WaitCommand.h

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <frc/Timer.h>
#include <units/time.h>
 
#include "frc2/command/Command.h"
#include "frc2/command/CommandHelper.h"
 
namespace frc2 {
/**
 * A command that does nothing but takes a specified amount of time to finish.
 *
 * This class is provided by the NewCommands VendorDep
 */
class WaitCommand : public CommandHelper<Command, WaitCommand> {
 public:
  /**
   * Creates a new WaitCommand.  This command will do nothing, and end after the
   * specified duration.
   *
   * @param duration the time to wait
   */
  explicit WaitCommand(units::second_t duration);
 
  WaitCommand(WaitCommand&& other) = default;
 
  WaitCommand(const WaitCommand& other) = default;
 
  void Initialize() override;
 
  void End(bool interrupted) override;
 
  bool IsFinished() override;
 
  bool RunsWhenDisabled() const override;
 
  void InitSendable(wpi::SendableBuilder& builder) override;
 
 protected:
  /// The timer used for waiting.
  frc::Timer m_timer;
 
 private:
  units::second_t m_duration;
};
}  // namespace frc2