Package edu.wpi.first.wpilibj2.command
Class WaitUntilCommand
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- edu.wpi.first.wpilibj2.command.CommandBase
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- edu.wpi.first.wpilibj2.command.WaitUntilCommand
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public class WaitUntilCommand extends CommandBase
A command that does nothing but ends after a specified match time or condition. Useful for CommandGroups.
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Field Summary
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Fields inherited from class edu.wpi.first.wpilibj2.command.CommandBase
m_requirements
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Constructor Summary
Constructors Constructor Description WaitUntilCommand(double time)
Creates a new WaitUntilCommand that ends after a given match time.WaitUntilCommand(BooleanSupplier condition)
Creates a new WaitUntilCommand that ends after a given condition becomes true.
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description 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.CommandBase
addRequirements, getName, getRequirements, getSubsystem, initSendable, setName, setSubsystem, withName
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Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
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Methods inherited from interface edu.wpi.first.wpilibj2.command.Command
alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, end, execute, hasRequirement, initialize, isScheduled, perpetually, raceWith, schedule, schedule, withInterrupt, withTimeout
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Constructor Detail
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WaitUntilCommand
public WaitUntilCommand(BooleanSupplier condition)
Creates a new WaitUntilCommand that ends after a given condition becomes true.- Parameters:
condition
- the condition to determine when to end
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WaitUntilCommand
public WaitUntilCommand(double time)
Creates a new WaitUntilCommand that ends after a given match time.NOTE: The match timer used for this command is UNOFFICIAL. Using this command does NOT guarantee that the time at which the action is performed will be judged to be legal by the referees. When in doubt, add a safety factor or time the action manually.
- Parameters:
time
- the match time after which to end, in seconds
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Method Detail
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isFinished
public boolean isFinished()
Description copied from interface:Command
Whether the command has finished. Once a command finishes, the scheduler will call its end() method and un-schedule it.- Returns:
- whether the command has finished.
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runsWhenDisabled
public boolean runsWhenDisabled()
Description copied from interface:Command
Whether the given command should run when the robot is disabled. Override to return true if the command should run when disabled.- Returns:
- whether the command should run when the robot is disabled
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