001// Copyright (c) FIRST and other WPILib contributors.
002// Open Source Software; you can modify and/or share it under the terms of
003// the WPILib BSD license file in the root directory of this project.
004
005package edu.wpi.first.wpilibj2.command;
006
007import java.util.Set;
008
009/**
010 * Schedules the given commands when this command is initialized. Useful for forking off from
011 * CommandGroups. Note that if run from a composition, the composition will not know about the
012 * status of the scheduled commands, and will treat this command as finishing instantly.
013 *
014 * <p>This class is provided by the NewCommands VendorDep
015 */
016public class ScheduleCommand extends CommandBase {
017  private final Set<Command> m_toSchedule;
018
019  /**
020   * Creates a new ScheduleCommand that schedules the given commands when initialized.
021   *
022   * @param toSchedule the commands to schedule
023   */
024  public ScheduleCommand(Command... toSchedule) {
025    m_toSchedule = Set.of(toSchedule);
026  }
027
028  @Override
029  public void initialize() {
030    for (Command command : m_toSchedule) {
031      command.schedule();
032    }
033  }
034
035  @Override
036  public boolean isFinished() {
037    return true;
038  }
039
040  @Override
041  public boolean runsWhenDisabled() {
042    return true;
043  }
044}