Package edu.wpi.first.wpilibj2.command

Class ParallelCommandGroup

java.lang.Object
edu.wpi.first.wpilibj2.command.CommandBase
edu.wpi.first.wpilibj2.command.CommandGroupBase
edu.wpi.first.wpilibj2.command.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 Details

    • 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 Details

    • addCommands

      public final void addCommands​(Command... commands)
      Description copied from class: CommandGroupBase
      Adds the given commands to the command group.
      Specified by:
      addCommands in class CommandGroupBase
      Parameters:
      commands - The commands to add.

    • 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