Class WaitUntilCommand

java.lang.Object
edu.wpi.first.wpilibj2.command.CommandBase
edu.wpi.first.wpilibj2.command.WaitUntilCommand
All Implemented Interfaces:
Sendable, Command

public class WaitUntilCommand
extends CommandBase
A command that does nothing but ends after a specified match time or condition. Useful for CommandGroups.
  • Constructor Details

    • WaitUntilCommand

      public WaitUntilCommand​(BooleanSupplier condition)
      Creates a new WaitUntilCommand that ends after a given condition becomes true.
      Parameters:
      condition - the condition to determine when to end
    • WaitUntilCommand

      public WaitUntilCommand​(double time)
      Creates a new WaitUntilCommand that ends after a given match time.

      NOTE: The match timer used for this command is UNOFFICIAL. Using this command does NOT guarantee that the time at which the action is performed will be judged to be legal by the referees. When in doubt, add a safety factor or time the action manually.

      Parameters:
      time - the match time after which to end, in seconds
  • Method Details

    • 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