Class ParallelDeadlineGroup

All Implemented Interfaces:
Sendable, Command

public class ParallelDeadlineGroup
extends CommandGroupBase
A CommandGroup 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.

As a rule, CommandGroups require the union of the requirements of their component commands.

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 CommandGroup will finish when the deadline finishes, interrupting all other still-running commands. If the CommandGroup is interrupted, only the commands still running will be interrupted.
      deadline - the command that determines when the group 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.
      deadline - the command that determines when the group ends
    • 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
      commands - The commands to add.
    • initialize

      public void initialize()
      Description copied from interface: Command
      The initial subroutine of a command. Called once when the command is initially scheduled.
    • execute

      public void execute()
      Description copied from interface: Command
      The main body of a command. Called repeatedly while the command is scheduled.
    • end

      public 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.

      interrupted - whether the command was interrupted/canceled
    • isFinished

      public 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.
      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.
      whether the command should run when the robot is disabled
    • deadlineWith

      public ParallelDeadlineGroup deadlineWith​(Command... parallel)
      Description copied from interface: Command
      Decorates this command with a set of commands to run parallel to it, ending when the calling command ends and interrupting all the others. Often more convenient/less-verbose than constructing a new ParallelDeadlineGroup explicitly.

      Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with CommandGroupBase.clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.

      parallel - the commands to run in parallel
      the decorated command