Lesson 2.?: Command Groups

Accompanying code lesson: TODO

Commands can be grouped together in 4 ways: sequential, parallel, race, and deadline. This allows multiple commands to run together and act as one command, though each group type changes how the command group ends.

• Sequential

  • Starts the next command in the sequence when the previous command is done

  • Ends when the final command in the sequence is done

• Parallel

  • Runs all commands in the group at once

  • Ends when all the commands in the group are done

• Race

  • Runs all commands in the group at once

  • Ends when just one of the commands in the group is done

  • Cancels all other commands in the group when ending

• Deadline

  • The first command in the group is considered the "deadline"

  • Ends when the deadline command is done

  • Cancels any unfinished commands in the group when ending

How each command group behaves.

Command groups are not available from the Subsystem class, they are only available from the Commands static import.

Sequential group syntax example:

sequence(
  command1(),
  command2(),
  // ...
  commandN())

Parallel group syntax example:

parallel(
    command1(),
    command2(),
    // ...
    commandN())

Race group syntax example:

race(
    command1(),
    command2(),
    // ...
    commandN())

Deadline group syntax example:

deadline(
    deadlineCommand(),
    command1(),
    command2(),
    // ...
    commandN())