Package edu.wpi.first.wpilibj2.command

Class ParallelDeadlineGroup

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup

All Implemented Interfaces:

Sendable

public class ParallelDeadlineGroup
extends Command

A command composition 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.

The rules for command compositions apply: command instances that are passed to it cannot be added to any other composition or scheduled individually, and the composition requires all subsystems its components require.

This class is provided by the NewCommands VendorDep

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command

Command.InterruptionBehavior

Field Summary

Fields inherited from class edu.wpi.first.wpilibj2.command.Command

m_requirements

Constructor Summary

Constructors

Constructor	Description
ParallelDeadlineGroup(Command deadline, Command... otherCommands)	Creates a new ParallelDeadlineGroup.

Method Summary

Modifier and Type	Method	Description
void	addCommands(Command... commands)	Adds the given commands to the group.
void	end(boolean interrupted)	The action to take when the command ends.
void	execute()	The main body of a command.
Command.InterruptionBehavior	getInterruptionBehavior()	How the command behaves when another command with a shared requirement is scheduled.
void	initialize()	The initial subroutine of a command.
void	initSendable(SendableBuilder builder)	Initializes this Sendable object.
boolean	isFinished()	Whether the command has finished.
boolean	runsWhenDisabled()	Whether the given command should run when the robot is disabled.
void	setDeadline(Command deadline)	Sets the deadline to the given command.

Methods inherited from class edu.wpi.first.wpilibj2.command.Command

addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, finallyDo, finallyDo, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, schedule, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

ParallelDeadlineGroup

public ParallelDeadlineGroup(Command deadline, Command... otherCommands)

Creates a new ParallelDeadlineGroup. The given commands, including the deadline, will be executed simultaneously. The composition will finish when the deadline finishes, interrupting all other still-running commands. If the composition is interrupted, only the commands still running will be interrupted.

Parameters:

deadline - the command that determines when the composition ends

otherCommands - the other commands to be executed

Throws:

IllegalArgumentException - if the deadline command is also in the otherCommands argument

Method Details

setDeadline

public final 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

Throws:

IllegalArgumentException - if the deadline command is already in the composition

addCommands

public final void addCommands(Command... commands)

Adds the given commands to the group.

Parameters:

commands - Commands to add to the group.

initialize

public final void initialize()

Description copied from class: Command

The initial subroutine of a command. Called once when the command is initially scheduled.

Overrides:

initialize in class Command

execute

public final void execute()

Description copied from class: Command

The main body of a command. Called repeatedly while the command is scheduled.

Overrides:

execute in class Command

end

public final void end(boolean interrupted)

Description copied from class: Command

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 Command.andThen(Command...) instead.

Overrides:

end in class Command

Parameters:

interrupted - whether the command was interrupted/canceled

isFinished

public final boolean isFinished()

Description copied from class: Command

Whether the command has finished. Once a command finishes, the scheduler will call its end() method and un-schedule it.

Overrides:

isFinished in class Command

Returns:

whether the command has finished.

runsWhenDisabled

public boolean runsWhenDisabled()

Description copied from class: Command

Whether the given command should run when the robot is disabled. Override to return true if the command should run when disabled.

Overrides:

runsWhenDisabled in class Command

Returns:

whether the command should run when the robot is disabled

getInterruptionBehavior

public Command.InterruptionBehavior getInterruptionBehavior()

Description copied from class: Command

How the command behaves when another command with a shared requirement is scheduled.

Overrides:

getInterruptionBehavior in class Command

Returns:

a variant of Command.InterruptionBehavior, defaulting to kCancelSelf.

initSendable

public void initSendable(SendableBuilder builder)

Description copied from interface: Sendable

Initializes this Sendable object.

Specified by:

initSendable in interface Sendable

Overrides:

initSendable in class Command

Parameters:

builder - sendable builder