ParallelDeadlineGroup

class commands2.ParallelDeadlineGroup(*args, **kwargs)[source]

Bases: Command

A command composition that runs a set of commands in parallel, ending only when a specific command (the “deadline”) ends, interrupting all other commands that are still running at that point.

The rules for command compositions apply: command instances that are passed to it cannot be added to any other composition or scheduled individually, and the composition requires all subsystems its components require.

Creates a new ParallelDeadlineGroup. The given commands (including the deadline) will be executed simultaneously. The composition will finish when the deadline finishes, interrupting all other still-running commands. If the composition is interrupted, only the commands still running will be interrupted.

Parameters:
  • deadline – the command that determines when the composition ends

  • commands – the commands to be executed

Raises:

IllegalCommandUse – if the deadline command is also in the otherCommands argument

addCommands(*commands: Command)[source]

Adds the given commands to the group.

Parameters:

commands – Commands to add to the group.

Raises:

IllegalCommandUse – if the deadline command is already in the composition

end(interrupted: bool)[source]

The action to take when the command ends. Called when either the command finishes normally, or when it interrupted/canceled.

Do not schedule commands here that share requirements with this command. Use andThen() instead.

Parameters:

interrupted – whether the command was interrupted/canceled

execute()[source]

The main body of a command. Called repeatedly while the command is scheduled.

getInterruptionBehavior() InterruptionBehavior[source]

How the command behaves when another command with a shared requirement is scheduled.

Returns:

a variant of InterruptionBehavior, defaulting to {@link InterruptionBehavior#kCancelSelf kCancelSelf}.

initSendable(builder: wpiutil._wpiutil.SendableBuilder) None[source]

Initializes this Sendable object.

Parameters:

builder – sendable builder

initialize()[source]

The initial subroutine of a command. Called once when the command is initially scheduled.

isFinished() bool[source]

Whether the command has finished. Once a command finishes, the scheduler will call its commands2.Command.end() method and un-schedule it.

Returns:

whether the command has finished.

runsWhenDisabled() bool[source]

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

setDeadline(deadline: Command)[source]

Sets the deadline to the given command. The deadline is added to the group if it is not already contained.

Parameters:

deadline – the command that determines when the group ends

Raises:

IllegalCommandUse – if the deadline command is already in the composition