Robot Core Documentation
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edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup Class Reference
Inheritance diagram for edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup:
edu.wpi.first.wpilibj2.command.Command edu.wpi.first.util.sendable.Sendable

Public Member Functions

 ParallelDeadlineGroup (Command deadline, Command... otherCommands)
 
final void setDeadline (Command deadline)
 
final void addCommands (Command... commands)
 
final void initialize ()
 
final void execute ()
 
final void end (boolean interrupted)
 
final boolean isFinished ()
 
boolean runsWhenDisabled ()
 
InterruptionBehavior getInterruptionBehavior ()
 
void initSendable (SendableBuilder builder)
 
- Public Member Functions inherited from edu.wpi.first.wpilibj2.command.Command
Set< SubsystemgetRequirements ()
 
final void addRequirements (Subsystem... requirements)
 
String getName ()
 
void setName (String name)
 
String getSubsystem ()
 
void setSubsystem (String subsystem)
 
ParallelRaceGroup withTimeout (double seconds)
 
ParallelRaceGroup until (BooleanSupplier condition)
 
ParallelRaceGroup onlyWhile (BooleanSupplier condition)
 
SequentialCommandGroup beforeStarting (Runnable toRun, Subsystem... requirements)
 
SequentialCommandGroup beforeStarting (Command before)
 
SequentialCommandGroup andThen (Runnable toRun, Subsystem... requirements)
 
SequentialCommandGroup andThen (Command... next)
 
ParallelDeadlineGroup deadlineWith (Command... parallel)
 
ParallelCommandGroup alongWith (Command... parallel)
 
ParallelRaceGroup raceWith (Command... parallel)
 
RepeatCommand repeatedly ()
 
ProxyCommand asProxy ()
 
ConditionalCommand unless (BooleanSupplier condition)
 
ConditionalCommand onlyIf (BooleanSupplier condition)
 
WrapperCommand ignoringDisable (boolean doesRunWhenDisabled)
 
WrapperCommand withInterruptBehavior (InterruptionBehavior interruptBehavior)
 
WrapperCommand finallyDo (BooleanConsumer end)
 
WrapperCommand finallyDo (Runnable end)
 
WrapperCommand handleInterrupt (Runnable handler)
 
void schedule ()
 
void cancel ()
 
boolean isScheduled ()
 
boolean hasRequirement (Subsystem requirement)
 
WrapperCommand withName (String name)
 
- Public Member Functions inherited from edu.wpi.first.util.sendable.Sendable

Additional Inherited Members

- Protected Member Functions inherited from edu.wpi.first.wpilibj2.command.Command
 Command ()
 
- Protected Attributes inherited from edu.wpi.first.wpilibj2.command.Command
Set< Subsystemm_requirements = new HashSet<>()
 

Detailed Description

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

Constructor & Destructor Documentation

◆ ParallelDeadlineGroup()

edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup.ParallelDeadlineGroup ( 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
deadlinethe command that determines when the composition ends
otherCommandsthe other commands to be executed
Exceptions
IllegalArgumentExceptionif the deadline command is also in the otherCommands argument

Member Function Documentation

◆ addCommands()

final void edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup.addCommands ( Command... commands)

Adds the given commands to the group.

Parameters
commandsCommands to add to the group.

◆ end()

final void edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup.end ( boolean interrupted)

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 andThen(Command...) instead.

Parameters
interruptedwhether the command was interrupted/canceled

Reimplemented from edu.wpi.first.wpilibj2.command.Command.

◆ execute()

final void edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup.execute ( )

The main body of a command. Called repeatedly while the command is scheduled.

Reimplemented from edu.wpi.first.wpilibj2.command.Command.

◆ getInterruptionBehavior()

InterruptionBehavior edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup.getInterruptionBehavior ( )

How the command behaves when another command with a shared requirement is scheduled.

Returns
a variant of InterruptionBehavior, defaulting to kCancelSelf.

Reimplemented from edu.wpi.first.wpilibj2.command.Command.

◆ initialize()

final void edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup.initialize ( )

The initial subroutine of a command. Called once when the command is initially scheduled.

Reimplemented from edu.wpi.first.wpilibj2.command.Command.

◆ initSendable()

void edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup.initSendable ( SendableBuilder builder)

Initializes this Sendable object.

Parameters
buildersendable builder

Reimplemented from edu.wpi.first.wpilibj2.command.Command.

◆ isFinished()

final boolean edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup.isFinished ( )

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.

Reimplemented from edu.wpi.first.wpilibj2.command.Command.

◆ runsWhenDisabled()

boolean edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup.runsWhenDisabled ( )

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

Reimplemented from edu.wpi.first.wpilibj2.command.Command.

◆ setDeadline()

final void edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup.setDeadline ( Command deadline)

Sets the deadline to the given command. The deadline is added to the group if it is not already contained.

Parameters
deadlinethe command that determines when the group ends
Exceptions
IllegalArgumentExceptionif the deadline command is already in the composition

The documentation for this class was generated from the following file: