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

SequentialGroup

class SequentialGroup(val commands: Command) : CommandGroup

A CommandGroup that runs its children one at a time.

Constructors

SequentialGroup

constructor(vararg commands: Command)

Properties

children

val children: MutableList<Command>

The collection of all commands within this group.

commands

val commands: Array<out Command>

interruptible

open val interruptible: Boolean = true

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

isDone

open override val isDone: Boolean

This returns true once all of its children have finished running.

subsystems

open val subsystems: Set<Subsystem>

A set of all Subsystems this command implements.

Functions

afterTime

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

and

fun and(vararg commands: Command): ParallelGroup

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

asDeadline

fun asDeadline(vararg commands: Command): ParallelDeadlineGroup

Returns a ParallelDeadlineGroup with this command as the deadline

endAfter

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

invoke

operator fun invoke()

Allows you to directly "call" a command

perpetually

fun perpetually(): PerpetualCommand

Returns a PerpetualCommand that wraps this command

raceWith

fun raceWith(vararg commands: Command): ParallelRaceGroup

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

start

open override fun start()

In a Sequential Group, we will start the first command and wait until it has completed execution before starting the next.

stop

open fun stop(interrupted: Boolean)

Called once when the command is stopped.

then

fun then(vararg commands: Command): SequentialGroup

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

thenWait

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

update

open override fun update()

Now, every update we must check if the currently active command is complete. If it is, remove it and start the next one (if there is one).

withDeadline

fun withDeadline(deadline: Command): ParallelDeadlineGroup

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