core/com.rowanmcalpin.nextftc.core.command.utility.conditionals/BlockingSwitchCommand

BlockingSwitchCommand

class BlockingSwitchCommand(value: () -> Any, outcomes: Pair<Any, () -> Command>, default: () -> Command? = null) : Command

This behaves like the command-form of a switch statement. You provide it with a value to reference, and a list of options of outcomes. It is blocking, meaning isDone will not return true until the scheduled command(s) have completed running.

Parameters

value

the value to reference

outcomes

all of the options for outcomes

default

the command to schedule if none of the outcomes are fulfilled

Constructors

BlockingSwitchCommand

constructor(value: () -> Any, vararg outcomes: Pair<Any, () -> Command>, default: () -> Command? = null)

Properties

interruptible

open val interruptible: Boolean = true

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

isDone

open override val isDone: Boolean

Returns true once every executing command is done

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()

Called once when the command is first started

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 fun update()

Called repeatedly while the command is running.

withDeadline

fun withDeadline(deadline: Command): ParallelDeadlineGroup

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