Class WaitUntilCommand

  • All Implemented Interfaces:
    Sendable, Command

    public class WaitUntilCommand
    extends CommandBase
    A command that does nothing but ends after a specified match time or condition. Useful for CommandGroups.
    • Constructor Detail

      • WaitUntilCommand

        public WaitUntilCommand​(BooleanSupplier condition)
        Creates a new WaitUntilCommand that ends after a given condition becomes true.
        Parameters:
        condition - the condition to determine when to end
      • WaitUntilCommand

        public WaitUntilCommand​(double time)
        Creates a new WaitUntilCommand that ends after a given match time.

        NOTE: The match timer used for this command is UNOFFICIAL. Using this command does NOT guarantee that the time at which the action is performed will be judged to be legal by the referees. When in doubt, add a safety factor or time the action manually.

        Parameters:
        time - the match time after which to end, in seconds
    • Method Detail

      • 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