Package edu.wpi.first.wpilibj2.command

Class ParallelRaceGroup

java.lang.Object
edu.wpi.first.wpilibj2.command.CommandBase
edu.wpi.first.wpilibj2.command.ParallelRaceGroup
All Implemented Interfaces:
Sendable, Command
public class ParallelRaceGroup
extends CommandBase
A composition that runs a set of commands in parallel, ending when any one of the commands ends and interrupting all the others.

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

    • ParallelRaceGroup

      public ParallelRaceGroup​(Command... commands)
      Creates a new ParallelCommandRace. The given commands will be executed simultaneously, and will "race to the finish" - the first command to finish ends the entire command, with all other commands being 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.