public class ParallelDeadlineGroup extends CommandGroupBase
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
Nested Class Summary
Nested classes/interfaces inherited from interface edu.wpi.first.wpilibj2.command.Command
Fields inherited from class edu.wpi.first.wpilibj2.command.CommandBase
Constructors Constructor Description
ParallelDeadlineGroup(Command deadline, Command... commands)Creates a new ParallelDeadlineGroup.
Modifier and Type Method Description
addCommands(Command... commands)Adds the given commands to the command group.
end(boolean interrupted)The action to take when the command ends.
execute()The main body of a command.
getInterruptionBehavior()How the command behaves when another command with a shared requirement is scheduled.
initialize()The initial subroutine of a command.
initSendable(SendableBuilder builder)Initializes this sendable.
isFinished()Whether the command has finished.
runsWhenDisabled()Whether the given command should run when the robot is disabled.
setDeadline(Command deadline)Sets the deadline to the given command.
Methods inherited from class edu.wpi.first.wpilibj2.command.CommandGroupBase
deadline, parallel, race, sequence
Methods inherited from class edu.wpi.first.wpilibj2.command.CommandBase
addRequirements, getName, getRequirements, getSubsystem, 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, perpetually, raceWith, repeatedly, schedule, unless, until, withInterrupt, withInterruptBehavior, withName, withTimeout
ParallelDeadlineGrouppublic 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.
deadline- the command that determines when the composition ends
commands- the commands to be executed
setDeadlinepublic void setDeadline(Command deadline)Sets the deadline to the given command. The deadline is added to the group if it is not already contained.
deadline- the command that determines when the group ends
addCommandspublic final void addCommands(Command... commands)Description copied from class:
CommandGroupBaseAdds the given commands to the command group.
- Specified by:
commands- The commands to add.
initializepublic final void initialize()The initial subroutine of a command. Called once when the command is initially scheduled.
executepublic final void execute()The main body of a command. Called repeatedly while the command is scheduled.
endpublic final void end(boolean interrupted)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
interrupted- whether the command was interrupted/canceled
isFinishedpublic final boolean isFinished()Whether the command has finished. Once a command finishes, the scheduler will call its end() method and un-schedule it.
- whether the command has finished.
runsWhenDisabledpublic boolean runsWhenDisabled()Whether the given command should run when the robot is disabled. Override to return true if the command should run when disabled.
- whether the command should run when the robot is disabled
getInterruptionBehaviorHow the command behaves when another command with a shared requirement is scheduled.
- a variant of
Command.InterruptionBehavior, defaulting to
initSendablepublic void initSendable(SendableBuilder builder)Description copied from class:
CommandBaseInitializes this sendable. Useful for allowing implementations to easily extend SendableBase.
- Specified by:
builder- the builder used to construct this sendable