Package edu.wpi.first.wpilibj2.command
Class ParallelDeadlineGroup
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- edu.wpi.first.wpilibj2.command.CommandBase
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- edu.wpi.first.wpilibj2.command.CommandGroupBase
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- edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup
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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.
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Field Summary
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Fields inherited from class edu.wpi.first.wpilibj2.command.CommandBase
m_requirements
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Constructor Summary
Constructors Constructor Description ParallelDeadlineGroup(Command deadline, Command... commands)Creates a new ParallelDeadlineGroup.
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description voidaddCommands(Command... commands)Adds the given commands to the command group.voidend(boolean interrupted)The action to take when the command ends.voidexecute()The main body of a command.voidinitialize()The initial subroutine of a command.booleanisFinished()Whether the command has finished.booleanrunsWhenDisabled()Whether the given command should run when the robot is disabled.voidsetDeadline(Command deadline)Sets the deadline to the given command.-
Methods inherited from class edu.wpi.first.wpilibj2.command.CommandGroupBase
clearGroupedCommand, clearGroupedCommands, deadline, parallel, race, requireUngrouped, requireUngrouped, sequence
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Methods inherited from class edu.wpi.first.wpilibj2.command.CommandBase
addRequirements, getName, getRequirements, getSubsystem, initSendable, setName, setSubsystem
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Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
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Methods inherited from interface edu.wpi.first.wpilibj2.command.Command
alongWith, andThen, andThen, asProxy, beforeStarting, cancel, deadlineWith, getName, getRequirements, hasRequirement, isScheduled, perpetually, raceWith, schedule, schedule, withInterrupt, withTimeout
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Constructor Detail
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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.- Parameters:
deadline- the command that determines when the group endscommands- the commands to be executed
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Method Detail
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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.- Parameters:
deadline- the command that determines when the group ends
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addCommands
public final void addCommands(Command... commands)
Description copied from class:CommandGroupBaseAdds the given commands to the command group.- Specified by:
addCommandsin classCommandGroupBase- Parameters:
commands- The commands to add.
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initialize
public void initialize()
Description copied from interface:CommandThe initial subroutine of a command. Called once when the command is initially scheduled.
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execute
public void execute()
Description copied from interface:CommandThe main body of a command. Called repeatedly while the command is scheduled.
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end
public void end(boolean interrupted)
Description copied from interface:CommandThe action to take when the command ends. Called when either the command finishes normally, or when it interrupted/canceled.- Parameters:
interrupted- whether the command was interrupted/canceled
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isFinished
public boolean isFinished()
Description copied from interface:CommandWhether 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.
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runsWhenDisabled
public boolean runsWhenDisabled()
Description copied from interface:CommandWhether 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
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