[SoftwareBug2.0]

Originally Posted by notmattlythgoe

With some forethought you can create some pretty interesting command groups. And yes you can account for failures. When you add any of the commands you can add timeouts to them. Of course, depending on what has failed to complete could effect if your auto mode is successful or not. Sometimes you might want the robot to not finish the auto mode if one step has failed.

Here is an example of non linear steps.

addSequential(new DriveStraightCommand(0.85, 60));
addSequential(new TurnToDegreeCommand(0.5, 45));
addSequential(new MoveAndShootCommand());
addSequential(new new TurnToDegreeCommand(0.5, -45));

MoveAndShootCommand:

DriveStraightCommand driveCommand = new DriveStraightCommand(0.85, 120);
addSequential(driveCommand);
addParallel(new WaitForDistanceCommand(40, driveCommand));
addSequential(new ShootCommand());
addParallel(new WaitForDistanceCommand(60, driveCommand));
addSequential(new ShootCommand());
addParallel(new WaitForDistanceCommand(80, driveCommand));
addSequential(new ShootCommand());

The DriveStraightCommand implements an interface called IProvidesCurrentDistance which will return the distance the command has currently moved. Using this interface you can pass the running command in to other commands and have access to the distance moved at a given time. The MoveAdnShootCommand will start the robot moving, then once it has reached 20, 40, and 60 inches will run a shoot command. The final TurnToDegreeCommand will run once the MoveAndShootCommand has finished.

This still seems linear to me. All it's doing is waiting for some condition and deciding to go on to the next step or continue waiting.

What I was trying to ask is if you could do something like:

if goal is hot:
  fire
  drive forward
else:
  turn
  fire