Package edu.wpi.first.wpilibj2.command

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.

Field Summary

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

m_requirements

Constructor Summary

Constructors

Constructor	Description
WaitUntilCommand(double time)	Creates a new WaitUntilCommand that ends after a given match time.
WaitUntilCommand(BooleanSupplier condition)	Creates a new WaitUntilCommand that ends after a given condition becomes true.

Method Summary

Modifier and Type	Method	Description
boolean	isFinished()	Whether the command has finished.
boolean	runsWhenDisabled()	Whether the given command should run when the robot is disabled.

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, isScheduled, perpetually, raceWith, schedule, schedule, withInterrupt, withTimeout

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