public class ParallelRaceGroup extends CommandGroupBase
A composition that runs a set of commands in parallel, ending when any one of the commands ends and interrupting all the others.
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 interface edu.wpi.first.wpilibj2.command.Command
Fields inherited from class edu.wpi.first.wpilibj2.command.CommandBase
Constructors Constructor Description
ParallelRaceGroup(Command... commands)Creates a new ParallelCommandRace.
Modifier and Type Method Description
addCommands(Command... commands)Adds the given commands to the command group.
end(boolean interrupted)The action to take when the command ends.
execute()The main body of a command.
getInterruptionBehavior()How the command behaves when another command with a shared requirement is scheduled.
initialize()The initial subroutine of a command.
isFinished()Whether the command has finished.
runsWhenDisabled()Whether the given command should run when the robot is disabled.
Methods inherited from class edu.wpi.first.wpilibj2.command.CommandGroupBase
deadline, parallel, race, sequence
Methods inherited from class edu.wpi.first.wpilibj2.command.CommandBase
addRequirements, getName, getRequirements, getSubsystem, initSendable, setName, setSubsystem
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
Methods inherited from interface edu.wpi.first.wpilibj2.command.Command
alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, finallyDo, handleInterrupt, hasRequirement, ignoringDisable, isScheduled, perpetually, raceWith, repeatedly, schedule, unless, until, withInterrupt, withInterruptBehavior, withName, withTimeout
ParallelRaceGrouppublic ParallelRaceGroup(Command... commands)Creates a new ParallelCommandRace. The given commands will be executed simultaneously, and will "race to the finish" - the first command to finish ends the entire command, with all other commands being interrupted.
commands- the commands to include in this composition.
addCommandspublic final void addCommands(Command... commands)Description copied from class:
CommandGroupBaseAdds the given commands to the command group.
- Specified by:
commands- The commands to add.
initializepublic final void initialize()The initial subroutine of a command. Called once when the command is initially scheduled.
executepublic final void execute()The main body of a command. Called repeatedly while the command is scheduled.
endpublic final void end(boolean interrupted)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
interrupted- whether the command was interrupted/canceled
isFinishedpublic final boolean isFinished()Whether the command has finished. Once a command finishes, the scheduler will call its end() method and un-schedule it.
- whether the command has finished.
runsWhenDisabledpublic boolean runsWhenDisabled()Whether the given command should run when the robot is disabled. Override to return true if the command should run when disabled.
- whether the command should run when the robot is disabled
getInterruptionBehaviorHow the command behaves when another command with a shared requirement is scheduled.
- a variant of
Command.InterruptionBehavior, defaulting to