Package edu.wpi.first.wpilibj2.command

Class ParallelCommandGroup

java.lang.Object
edu.wpi.first.wpilibj2.command.CommandBase
edu.wpi.first.wpilibj2.command.CommandGroupBase
edu.wpi.first.wpilibj2.command.ParallelCommandGroup
All Implemented Interfaces:
Sendable, Command
public class ParallelCommandGroup
extends CommandGroupBase
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

  • 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)
      Description copied from class: CommandGroupBase
      Adds the given commands to the command group.
      Specified by:
      addCommands in class CommandGroupBase
      Parameters:
      commands - The commands to add.

    • 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.