ParallelRaceGroup

class commands2.ParallelRaceGroup(*args, **kwargs)

Bases: Command

A composition that runs a set of commands in parallel, ending when any one of the commands ends and interrupting all the others.

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 ParallelCommandRace. The given commands will be executed simultaneously, and will “race to the finish” - the first command to finish ends the entire command, with all other commands being interrupted.

Parameters:

commands – the commands to include in this composition.

addCommands(*commands: Command)

Adds the given commands to the group.

Parameters:

commands – Commands to add to the group.

end(interrupted: bool)

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()

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

getInterruptionBehavior() → InterruptionBehavior

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

Returns:

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

initialize()

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

isFinished() → bool

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

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