Package edu.wpi.first.wpilibj2.command

Class ParallelCommandGroup

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

edu.wpi.first.wpilibj2.command.ParallelCommandGroup

All Implemented Interfaces:

Sendable, Command

public class ParallelCommandGroup
extends CommandBase

A command composition that runs a set of commands in parallel, ending when the last command ends.

The rules for command compositions apply: command instances that are passed to it cannot be added to any other composition or scheduled individually, and the composition requires all subsystems its components require.

This class is provided by the NewCommands VendorDep

Nested Class Summary

Nested classes/interfaces inherited from interface edu.wpi.first.wpilibj2.command.Command

Command.InterruptionBehavior

Field Summary

Fields inherited from class edu.wpi.first.wpilibj2.command.CommandBase

m_requirements

Constructor Summary

Constructors

Constructor	Description
ParallelCommandGroup(Command... commands)	Creates a new ParallelCommandGroup.

Method Summary

Modifier and Type	Method	Description
void	addCommands(Command... commands)	Adds the given commands to the group.
void	end(boolean interrupted)	The action to take when the command ends.
void	execute()	The main body of a command.
Command.InterruptionBehavior	getInterruptionBehavior()	How the command behaves when another command with a shared requirement is scheduled.
void	initialize()	The initial subroutine of a command.
boolean	isFinished()	Whether the command has finished.
boolean	runsWhenDisabled()	Whether the given command should run when the robot is disabled.

Methods inherited from class edu.wpi.first.wpilibj2.command.CommandBase

addRequirements, getName, getRequirements, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj2.command.Command

alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, finallyDo, handleInterrupt, hasRequirement, ignoringDisable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, schedule, unless, until, withInterruptBehavior, withName, withTimeout

Constructor Details

ParallelCommandGroup

public ParallelCommandGroup(Command... commands)

Creates a new ParallelCommandGroup. The given commands will be executed simultaneously. The command composition will finish when the last command finishes. If the composition is interrupted, only the commands that are still running will be interrupted.

Parameters:

commands - the commands to include in this composition.

Method Details

addCommands

public final void addCommands(Command... commands)

Adds the given commands to the group.

Parameters:

commands - Commands to add to the group.

initialize

public final void initialize()

Description copied from interface: Command

The initial subroutine of a command. Called once when the command is initially scheduled.

execute

public final void execute()

Description copied from interface: Command

The main body of a command. Called repeatedly while the command is scheduled.

end

public final 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 final 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

getInterruptionBehavior

public Command.InterruptionBehavior getInterruptionBehavior()

Description copied from interface: Command

How the command behaves when another command with a shared requirement is scheduled.

Returns:

a variant of Command.InterruptionBehavior, defaulting to kCancelSelf.