core/com.rowanmcalpin.nextftc.core.command.groups/ParallelRaceGroup

ParallelRaceGroup

class ParallelRaceGroup(val commands: Command) : CommandGroup

A CommandGroup that runs all of its children simultaneously until one of its children is done, at which point it stops all of its children.

Constructors

ParallelRaceGroup

constructor(vararg commands: Command)

Properties

val children: MutableList<Command>

The collection of all commands within this group.

val commands: Array<out Command>

open override val interruptible: Boolean

Whether this command can be stopped due to a conflict of Subsystems.

open override val isDone: Boolean

This will return false until one of its children is done

open override val subsystems: Set<Subsystem>

Overrides the Command.subsystems variable to inherit all subsystems from all of its children.

Functions

fun afterTime(time: TimeSpan): SequentialGroup

fun afterTime(time: Double): SequentialGroup

fun afterTime(time: Int): SequentialGroup

Returns a SequentialGroup with a Delay and then this command

fun and(vararg commands: Command): ParallelGroup

Returns a ParallelGroup with this command and an arbitrary number of other commands

fun asDeadline(vararg commands: Command): ParallelDeadlineGroup

Returns a ParallelDeadlineGroup with this command as the deadline

fun endAfter(time: TimeSpan): ParallelRaceGroup

fun endAfter(time: Double): ParallelRaceGroup

fun endAfter(time: Int): ParallelRaceGroup

Returns a ParallelRaceGroup with this command and a Delay of time

operator fun invoke()

Allows you to directly "call" a command

fun perpetually(): PerpetualCommand

Returns a PerpetualCommand that wraps this command

fun raceWith(vararg commands: Command): ParallelRaceGroup

Returns a ParallelRaceGroup with this command and an arbitrary number of other commands

setInterruptible

fun setInterruptible(interruptible: Boolean): ParallelRaceGroup

Sets whether this command is interruptible. This functionality is similar to a builder class, so you can use it inline with the Command Group declaration.

open override fun start()

In a Parallel Group, we can just straight away add all of the commands to the CommandManager, which can take care of the rest.

open override fun stop(interrupted: Boolean)

Called once when the command is stopped.

fun then(vararg commands: Command): SequentialGroup

Returns a SequentialGroup with this command and an arbitrary number of other commands

fun thenWait(time: TimeSpan): SequentialGroup

fun thenWait(time: Double): SequentialGroup

fun thenWait(time: Int): SequentialGroup

Returns a SequentialGroup with this command and then a Delay

open fun update()

Called repeatedly while the command is running.

fun withDeadline(deadline: Command): ParallelDeadlineGroup

Returns a ParallelDeadlineGroup with this command and the passed command as the deadline