public class ParallelRaceGroup extends CommandGroupBase
A CommandGroup that runs a set of commands in parallel, ending when any one of the commands ends and interrupting all the others.
As a rule, CommandGroups require the union of the requirements of their component commands.
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.
initialize()The initial subroutine of a command.
isFinished()Whether the command has finished.
runsWhenDisabled()Whether the given command should run when the robot is disabled.
Methods inherited from class edu.wpi.first.wpilibj2.command.CommandGroupBase
clearGroupedCommand, clearGroupedCommands, deadline, parallel, race, requireUngrouped, requireUngrouped, sequence
Methods inherited from class edu.wpi.first.wpilibj2.command.CommandBase
addRequirements, getName, getRequirements, getSubsystem, initSendable, setName, setSubsystem, withName
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, cancel, deadlineWith, hasRequirement, isScheduled, perpetually, raceWith, schedule, schedule, withInterrupt, withTimeout
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.
commands- the commands to include in this group.
public final void addCommands(Command... commands)Description copied from class:
CommandGroupBaseAdds the given commands to the command group.
public void initialize()The initial subroutine of a command. Called once when the command is initially scheduled.
public void execute()The main body of a command. Called repeatedly while the command is scheduled.
public 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
public 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.
public 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