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:

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 Summary

Constructors

Constructor	Description
ParallelCommandGroup(Command... commands)	Creates a new ParallelCommandGroup.

Method Summary

Modifier and Type	Method	Description
void	addCommands(Command... commands)	Adds the given commands to the command group.
void	end(boolean interrupted)	The action to take when the command ends.
void	execute()	The main body of a command.
void	initialize()	The initial subroutine of a command.
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.CommandGroupBase

clearGroupedCommand, clearGroupedCommands, deadline, parallel, race, requireUngrouped, requireUngrouped, sequence

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

addRequirements, getRequirements

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj2.command.Command

alongWith, andThen, asProxy, beforeStarting, cancel, deadlineWith, getName, getRequirements, hasRequirement, interruptOn, isScheduled, perpetually, raceWith, schedule, schedule, whenFinished, withTimeout

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.

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