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

  • 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