Package xbot.common.command

Class BaseParallelDeadlineGroup

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

xbot.common.command.BaseParallelDeadlineGroup

All Implemented Interfaces:

Sendable

public class BaseParallelDeadlineGroup
extends Command

A command composition 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.

The rules for command compositions apply: command instances that are passed to it cannot be added to any other composition or scheduled individually, and the composition requires all subsystems its components require.

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

Constructor Summary

Constructors

Constructor	Description
BaseParallelDeadlineGroup(Command deadline, Command... otherCommands)	Creates a new ParallelDeadlineGroup.

Method Summary

Modifier and Type	Method	Description
final void	addCommands(Command... commands)	Adds the given commands to the group.
final void	end(boolean interrupted)
final void	execute()
Command.InterruptionBehavior	getInterruptionBehavior()
final void	initialize()
void	initSendable(SendableBuilder builder)
final boolean	isFinished()
boolean	runsWhenDisabled()
final void	setDeadline(Command deadline)	Sets the deadline to the given command.

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

addRequirements, addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineFor, deadlineWith, finallyDo, finallyDo, 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

Constructor Details

BaseParallelDeadlineGroup

public BaseParallelDeadlineGroup(Command deadline,
 Command... otherCommands)

Creates a new ParallelDeadlineGroup. The given commands, including the deadline, will be executed simultaneously. The composition will finish when the deadline finishes, interrupting all other still-running commands. If the composition is interrupted, only the commands still running will be interrupted.

Parameters:

deadline - the command that determines when the composition ends

otherCommands - the other commands to be executed

Throws:

IllegalArgumentException - if the deadline command is also in the otherCommands argument

Method Details

setDeadline

public final 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

Throws:

IllegalArgumentException - if the deadline command is already in the composition

addCommands

public final void addCommands(Command... commands)

Adds the given commands to the group.

Parameters:

commands - Commands to add to the group.

initialize

public final void initialize()

Overrides:

initialize in class Command

execute

public final void execute()

Overrides:

execute in class Command

end

public final void end(boolean interrupted)

Overrides:

end in class Command

isFinished

public final boolean isFinished()

Overrides:

isFinished in class Command

runsWhenDisabled

public boolean runsWhenDisabled()

Overrides:

runsWhenDisabled in class Command

getInterruptionBehavior

public Command.InterruptionBehavior getInterruptionBehavior()

Overrides:

getInterruptionBehavior in class Command

initSendable

public void initSendable(SendableBuilder builder)

Specified by:

initSendable in interface Sendable

Overrides:

initSendable in class Command