Class WaitCommand

  • All Implemented Interfaces:
    Sendable, Command

    public class WaitCommand
    extends CommandBase
    A command that does nothing but takes a specified amount of time to finish. Useful for CommandGroups. Can also be subclassed to make a command with an internal timer.
    • Field Detail

      • m_timer

        protected Timer m_timer
    • Constructor Detail

      • WaitCommand

        public WaitCommand​(double seconds)
        Creates a new WaitCommand. This command will do nothing, and end after the specified duration.
        Parameters:
        seconds - the time to wait, in seconds
    • Method Detail

      • initialize

        public void initialize()
        Description copied from interface: Command
        The initial subroutine of a command. Called once when the command is initially scheduled.
      • end

        public void end​(boolean interrupted)
        Description copied from interface: Command
        The action to take when the command ends. Called when either the command finishes normally, or when it interrupted/canceled.

        Do not schedule commands here that share requirements with this command. Use Command.andThen(Command...) instead.

        Parameters:
        interrupted - whether the command was interrupted/canceled
      • isFinished

        public boolean isFinished()
        Description copied from interface: Command
        Whether the command has finished. Once a command finishes, the scheduler will call its end() method and un-schedule it.
        Returns:
        whether the command has finished.
      • runsWhenDisabled

        public boolean runsWhenDisabled()
        Description copied from interface: Command
        Whether the given command should run when the robot is disabled. Override to return true if the command should run when disabled.
        Returns:
        whether the command should run when the robot is disabled