Package edu.wpi.first.wpilibj2.command

Class WaitCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

edu.wpi.first.wpilibj2.command.WaitCommand

All Implemented Interfaces:

Sendable

public class WaitCommand
extends Command

A command that does nothing but takes a specified amount of time to finish.

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

Modifier and Type	Field	Description
protected Timer	m_timer	The timer used for waiting.

Constructor Summary

Constructors

Constructor	Description
WaitCommand(double seconds)	Creates a new WaitCommand.
WaitCommand(Time time)	Creates a new WaitCommand.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)	The action to take when the command ends.
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.

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

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

Methods inherited from class java.lang.Object

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

Field Details

m_timer

protected Timer m_timer

The timer used for waiting.

Constructor Details

WaitCommand

public WaitCommand(double seconds)

Creates a new WaitCommand. This command will do nothing, and end after the specified duration.

Parameters:

seconds - the time to wait, in seconds

WaitCommand

public WaitCommand(Time time)

Creates a new WaitCommand. This command will do nothing, and end after the specified duration.

Parameters:

time - the time to wait

Method Details

initialize

public 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

end

public 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 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

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