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ParallelCommandGroup

The ParallelCommandGroup class runs a group of commands all at the same time. Since the commands in CommandScheduler are already run in parallel, the primary functional use for this class is to place parallel groups inside SequentialCommandGroups, like this

val mySequentialCommandGroup: SequentialCommandGroup 
    get() = sequential {
        +FirstCommand()
        +SecondCommand()
        +parallel {
            +FirstParallelCommand()
            +SecondParallelCommand()
        }
    }

The above code will run FirstCommand until it finishes, then SecondCommand until it finishes, and then will run both FirstParallelCommand and SecondParallelCommand at the same time until they are both finished.

Root​

  • Extends: CommandGroup
  • Declaration: class
  • Package: com.atomicrobotics.cflib

Variables​

commandsToCancel​

  • Default Value: mutableMapOf()
  • Type: MutableMap<Command, Boolean>
  • Declaration: private val

Functions​

start()​

Starts each command in the list (at the same time)

  • Declaration: override fun
  • Parameters: none
  • Returns: Unit

execute()​

Starts each command in the list (if it hasn't been started already), then runs its execute() functionm then adds it to the commandsToCancel list if it's finished. The reason the commands can't be cancelled right away is because removing an item from a ist while iterating through the list leads to all sorts of problems.

  • Declaration: override fun
  • Parameters: none
  • Returns: Unit

clearCommands()​

Clears the commands that need to be cancelled. The reason the commands can't be cancelled in the execute function is because removing items from a list while iterating through the list leads to all sorts of problems.

  • Declaration: private fun
  • Parameters: none
  • Returns: Unit

Definition in com.atomicrobotics.cflib/CommandGroup.kt