Package edu.wpi.first.wpilibj2.command
Class ParallelDeadlineGroup
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- edu.wpi.first.wpilibj2.command.CommandBase
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- edu.wpi.first.wpilibj2.command.CommandGroupBase
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- edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup
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public class ParallelDeadlineGroup extends CommandGroupBase
A CommandGroup that runs a set of commands in parallel, ending only when a specific command (the "deadline") ends, interrupting all other commands that are still running at that point.As a rule, CommandGroups require the union of the requirements of their component commands.
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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 ParallelDeadlineGroup(Command deadline, Command... commands)
Creates a new ParallelDeadlineGroup.
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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.ParallelDeadlineGroup
deadlineWith(Command... parallel)
Decorates this command with a set of commands to run parallel to it, ending when the calling command ends and interrupting all the others.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.void
setDeadline(Command deadline)
Sets the deadline to the given command.-
Methods inherited from class edu.wpi.first.wpilibj2.command.CommandGroupBase
clearGroupedCommand, clearGroupedCommands, deadline, parallel, race, requireUngrouped, requireUngrouped, sequence
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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, hasRequirement, isScheduled, perpetually, raceWith, schedule, schedule, withInterrupt, withTimeout
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Constructor Detail
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ParallelDeadlineGroup
public ParallelDeadlineGroup(Command deadline, Command... commands)
Creates a new ParallelDeadlineGroup. The given commands (including the deadline) will be executed simultaneously. The CommandGroup will finish when the deadline finishes, interrupting all other still-running commands. If the CommandGroup is interrupted, only the commands still running will be interrupted.- Parameters:
deadline
- the command that determines when the group endscommands
- the commands to be executed
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Method Detail
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setDeadline
public void setDeadline(Command deadline)
Sets the deadline to the given command. The deadline is added to the group if it is not already contained.- Parameters:
deadline
- the command that determines when the group ends
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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.
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initialize
public void initialize()
Description copied from interface:Command
The initial subroutine of a command. Called once when the command is initially scheduled.
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execute
public void execute()
Description copied from interface:Command
The main body of a command. Called repeatedly while the command is scheduled.
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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
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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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deadlineWith
public ParallelDeadlineGroup deadlineWith(Command... parallel)
Description copied from interface:Command
Decorates this command with a set of commands to run parallel to it, ending when the calling command ends and interrupting all the others. Often more convenient/less-verbose than constructing a newParallelDeadlineGroup
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
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