Class ParallelCommandGroup

  • All Implemented Interfaces:
    Sendable, Command

    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.

    • 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

      • 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 new ParallelCommandGroup 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