Package org.wpilib.commands3

Class ParallelGroupBuilder

java.lang.Object
org.wpilib.commands3.ParallelGroupBuilder
public class ParallelGroupBuilder extends Object
A builder class to configure and then create a ParallelGroup. Like StagedCommandBuilder, the final command is created by calling the terminal named(String) method, or with an automatically generated name using withAutomaticName().

  • Constructor Details

    • ParallelGroupBuilder

      public ParallelGroupBuilder()
      Creates a new parallel group builder. The builder will have no commands and have no preapplied configuration options.

  • Method Details

    • optional

      public ParallelGroupBuilder optional(Command... commands)
      Adds one or more optional commands to the group. They will not be required to complete for the parallel group to exit, and will be canceled once all required commands have finished.
      Parameters:
      commands - The optional commands to add to the group
      Returns:
      The builder object, for chaining

    • requiring

      public ParallelGroupBuilder requiring(Command... commands)
      Adds one or more required commands to the group. All required commands will need to complete for the group to exit.
      Parameters:
      commands - The required commands to add to the group
      Returns:
      The builder object, for chaining

    • alongWith

      public ParallelGroupBuilder alongWith(Command command)
      Adds a command to the group. The command must complete for the group to exit.
      Parameters:
      command - The command to add to the group
      Returns:
      The builder object, for chaining

    • until

      public ParallelGroupBuilder until(BooleanSupplier condition)
      Adds an end condition to the command group. If this condition is met before all required commands have completed, the group will exit early. If multiple end conditions are added (e.g. .until(() -> conditionA()).until(() -> conditionB())), then the last end condition added will be used and any previously configured condition will be overridden.
      Parameters:
      condition - The end condition for the group. May be null.
      Returns:
      The builder object, for chaining

    • named

      public ParallelGroup named(String name)
      Creates the group, using the provided named. The group will require everything that the commands in the group require, and will have a priority level equal to the highest priority among those commands.
      Parameters:
      name - The name of the parallel group
      Returns:
      The built group

    • withAutomaticName

      public ParallelGroup withAutomaticName()
      Creates the group, giving it a name based on the commands within the group.
      Returns:
      The built group