Package edu.wpi.first.wpilibj2.command

Class ParallelDeadlineGroup

java.lang.Object
edu.wpi.first.wpilibj2.command.CommandBase
edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup
All Implemented Interfaces:
Sendable, Command
public class ParallelDeadlineGroup
extends CommandBase
A command composition that runs a set of commands in parallel, ending only when a specific command (the "deadline") ends, interrupting all other commands that are still running at that point.

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

  • Constructor Details

    • ParallelDeadlineGroup

      public ParallelDeadlineGroup​(Command deadline, Command... commands)
      Creates a new ParallelDeadlineGroup. The given commands (including the deadline) will be executed simultaneously. The composition will finish when the deadline finishes, interrupting all other still-running commands. If the composition is interrupted, only the commands still running will be interrupted.
      Parameters:
      deadline - the command that determines when the composition ends
      commands - the commands to be executed

  • Method Details

    • setDeadline

      public void setDeadline​(Command deadline)
      Sets the deadline to the given command. The deadline is added to the group if it is not already contained.
      Parameters:
      deadline - the command that determines when the group ends

    • 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.

    • initSendable

      public void initSendable​(SendableBuilder builder)
      Description copied from class: CommandBase
      Initializes this sendable. Useful for allowing implementations to easily extend SendableBase.
      Specified by:
      initSendable in interface Sendable
      Overrides:
      initSendable in class CommandBase
      Parameters:
      builder - the builder used to construct this sendable