Package edu.wpi.first.wpilibj2.command
Class ParallelCommandGroup
- java.lang.Object
-
- edu.wpi.first.wpilibj2.command.CommandBase
-
- edu.wpi.first.wpilibj2.command.CommandGroupBase
-
- edu.wpi.first.wpilibj2.command.ParallelCommandGroup
-
public class ParallelCommandGroup extends CommandGroupBase
A CommandGroup that runs a set of commands in parallel, ending when the last command ends.As a rule, CommandGroups require the union of the requirements of their component commands.
-
-
Field Summary
-
Fields inherited from class edu.wpi.first.wpilibj2.command.CommandBase
m_requirements
-
-
Constructor Summary
Constructors Constructor Description ParallelCommandGroup(Command... commands)
Creates a new ParallelCommandGroup.
-
Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description void
addCommands(Command... commands)
Adds the given commands to the command group.ParallelCommandGroup
alongWith(Command... parallel)
Decorates this command with a set of commands to run parallel to it, ending when the last command ends.void
end(boolean interrupted)
The action to take when the command ends.void
execute()
The main body of a command.void
initialize()
The initial subroutine of a command.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.CommandGroupBase
clearGroupedCommand, clearGroupedCommands, deadline, parallel, race, requireUngrouped, requireUngrouped, sequence
-
Methods inherited from class edu.wpi.first.wpilibj2.command.CommandBase
addRequirements, getName, getRequirements, getSubsystem, initSendable, setName, setSubsystem, withName
-
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
andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, hasRequirement, isScheduled, perpetually, raceWith, schedule, schedule, withInterrupt, withTimeout
-
-
-
-
Constructor Detail
-
ParallelCommandGroup
public ParallelCommandGroup(Command... commands)
Creates a new ParallelCommandGroup. The given commands will be executed simultaneously. The command group will finish when the last command finishes. If the CommandGroup is interrupted, only the commands that are still running will be interrupted.- Parameters:
commands
- the commands to include in this group.
-
-
Method Detail
-
addCommands
public final void addCommands(Command... commands)
Description copied from class:CommandGroupBase
Adds the given commands to the command group.- Specified by:
addCommands
in classCommandGroupBase
- Parameters:
commands
- The commands to add.
-
initialize
public void initialize()
Description copied from interface:Command
The initial subroutine of a command. Called once when the command is initially scheduled.
-
execute
public void execute()
Description copied from interface:Command
The main body of a command. Called repeatedly while the command is scheduled.
-
end
public void end(boolean interrupted)
Description copied from interface: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.- Parameters:
interrupted
- whether the command was interrupted/canceled
-
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.
-
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
-
alongWith
public ParallelCommandGroup alongWith(Command... parallel)
Description copied from interface:Command
Decorates this command with a set of commands to run parallel to it, ending when the last command ends. Often more convenient/less-verbose than constructing a newParallelCommandGroup
explicitly.Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with
CommandGroupBase.clearGroupedCommand(Command)
. The decorated command can, however, be further decorated without issue.- Parameters:
parallel
- the commands to run in parallel- Returns:
- the decorated command
-
-