edu.wpi.first.wpilibj.command

Class WaitCommand

java.lang.Object

edu.wpi.first.wpilibj.command.Command

edu.wpi.first.wpilibj.command.WaitCommand

All Implemented Interfaces:

NamedSendable, Sendable

public class WaitCommand
extends Command

A WaitCommand will wait for a certain amount of time before finishing. It is useful if you want a CommandGroup to pause for a moment.

Author:

Joe Grinstead

See Also:

CommandGroup

Constructor Summary

Constructors

Constructor and Description
WaitCommand(double timeout) Instantiates a WaitCommand with the given timeout.
WaitCommand(String name, double timeout) Instantiates a WaitCommand with the given timeout.

Method Summary

Modifier and Type	Method and Description
protected void	end() Called when the command ended peacefully.
protected void	execute() The execute method is called repeatedly until this Command either finishes or is canceled.
protected void	initialize() The initialize method is called the first time this Command is run after being started.
protected void	interrupted() Called when the command ends because somebody called cancel() or another command shared the same requirements as this one, and booted it out.
protected boolean	isFinished() Returns whether this command is finished.

Methods inherited from class edu.wpi.first.wpilibj.command.Command

cancel, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

WaitCommand

public WaitCommand(double timeout)

Instantiates a WaitCommand with the given timeout.

Parameters:

timeout - the time the command takes to run

WaitCommand

public WaitCommand(String name,
                   double timeout)

Instantiates a WaitCommand with the given timeout.

Parameters:

name - the name of the command

timeout - the time the command takes to run

Method Detail

initialize

protected void initialize()

Description copied from class: Command

The initialize method is called the first time this Command is run after being started.

Specified by:

initialize in class Command

execute

protected void execute()

Description copied from class: Command

The execute method is called repeatedly until this Command either finishes or is canceled.

Specified by:

execute in class Command

isFinished

protected boolean isFinished()

Description copied from class: Command

Returns whether this command is finished. If it is, then the command will be removed and end() will be called.

It may be useful for a team to reference the isTimedOut() method for time-sensitive commands.

Specified by:

isFinished in class Command

Returns:

whether this command is finished.

See Also:

isTimedOut()

end

protected void end()

Description copied from class: Command

Called when the command ended peacefully. This is where you may want to wrap up loose ends, like shutting off a motor that was being used in the command.

Specified by:

end in class Command

interrupted

protected void interrupted()

Description copied from class: Command

Called when the command ends because somebody called cancel() or another command shared the same requirements as this one, and booted it out.

This is where you may want to wrap up loose ends, like shutting off a motor that was being used in the command.

Generally, it is useful to simply call the end() method within this method

Specified by:

interrupted in class Command