Java Conditional Command

[SamCarlberg]

Originally Posted by Joe Ross

In this particular case of the example, I think it would be easier to build the logic into a single command.

However, the pattern is definitely useful. We had cases last year where we wanted to start a parallel command halfway through another command (for a different subsytem). We sequenced them with waits, but a way to generically peek at the progress of the first command would be much better.

If you just want a rising/falling edge trigger, you could just poll the isFinished() method of the previous command, though that would break the CommandGroup paradigm a little