Package edu.wpi.first.wpilibj2.command

Class CommandGroupBase

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

edu.wpi.first.wpilibj2.command.CommandGroupBase

All Implemented Interfaces:

Sendable, Command

Direct Known Subclasses:

ParallelCommandGroup, ParallelDeadlineGroup, ParallelRaceGroup, SequentialCommandGroup

public abstract class CommandGroupBase
extends CommandBase

A base for CommandGroups. Statically tracks commands that have been allocated to groups to ensure those commands are not also used independently, which can result in inconsistent command state and unpredictable execution.

Field Summary

Fields inherited from class edu.wpi.first.wpilibj2.command.CommandBase

m_requirements

Constructor Summary

Constructors

Constructor	Description
CommandGroupBase()

Method Summary

Modifier and Type	Method	Description
abstract void	addCommands(Command... commands)	Adds the given commands to the command group.
static void	clearGroupedCommand(Command command)	Removes a single command from the list of grouped commands, allowing it to be freely used again.
static void	clearGroupedCommands()	Clears the list of grouped commands, allowing all commands to be freely used again.
static CommandGroupBase	deadline(Command deadline, Command... commands)	Factory method for ParallelDeadlineGroup, included for brevity/convenience.
static CommandGroupBase	parallel(Command... commands)	Factory method for ParallelCommandGroup, included for brevity/convenience.
static CommandGroupBase	race(Command... commands)	Factory method for ParallelRaceGroup, included for brevity/convenience.
static void	requireUngrouped(Command... commands)	Requires that the specified commands not have been already allocated to a CommandGroup.
static void	requireUngrouped(Collection<Command> commands)	Requires that the specified commands not have been already allocated to a CommandGroup.
static CommandGroupBase	sequence(Command... commands)	Factory method for SequentialCommandGroup, included for brevity/convenience.

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

alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, end, execute, hasRequirement, initialize, isFinished, isScheduled, perpetually, raceWith, runsWhenDisabled, schedule, schedule, withInterrupt, withTimeout

Constructor Details

CommandGroupBase

public CommandGroupBase()

Method Details

clearGroupedCommands

public static void clearGroupedCommands()

Clears the list of grouped commands, allowing all commands to be freely used again.

WARNING: Using this haphazardly can result in unexpected/undesirable behavior. Do not use this unless you fully understand what you are doing.

clearGroupedCommand

public static void clearGroupedCommand(Command command)

Removes a single command from the list of grouped commands, allowing it to be freely used again.

WARNING: Using this haphazardly can result in unexpected/undesirable behavior. Do not use this unless you fully understand what you are doing.

Parameters:

command - the command to remove from the list of grouped commands

requireUngrouped

public static void requireUngrouped(Command... commands)

Requires that the specified commands not have been already allocated to a CommandGroup. Throws an IllegalArgumentException if commands have been allocated.

Parameters:

commands - The commands to check

requireUngrouped

public static void requireUngrouped(Collection<Command> commands)

Requires that the specified commands not have been already allocated to a CommandGroup. Throws an IllegalArgumentException if commands have been allocated.

Parameters:

commands - The commands to check

addCommands

public abstract void addCommands(Command... commands)

Adds the given commands to the command group.

Parameters:

commands - The commands to add.

sequence

public static CommandGroupBase sequence(Command... commands)

Factory method for SequentialCommandGroup, included for brevity/convenience.

Parameters:

commands - the commands to include

Returns:

the command group

parallel

public static CommandGroupBase parallel(Command... commands)

Factory method for ParallelCommandGroup, included for brevity/convenience.

Parameters:

commands - the commands to include

Returns:

the command group

race

public static CommandGroupBase race(Command... commands)

Factory method for ParallelRaceGroup, included for brevity/convenience.

Parameters:

commands - the commands to include

Returns:

the command group

deadline

public static CommandGroupBase deadline(Command deadline, Command... commands)

Factory method for ParallelDeadlineGroup, included for brevity/convenience.

Parameters:

deadline - the deadline command

commands - the commands to include

Returns:

the command group