Command groups

[StephenBoiangiu8067]

I have a question regarding the command groups in the 2022 edition of VSCode for the FRC.
Is it possible to create a command group that can execute both a sequential series of command and a parallel one right after.

It seems to be possible when creating a Command Group (old), but there doesn’t seem to be a new equivalent.

[Aree_Vanier]

What I’ve been doing (possibly against best practices), is creating new ParallelCommandGroups inline in my SequentialCommandGroup.

So the code would look like:

class MyGroup extends SequentialCommandGroup {
    public MyGroup() {
        addCommands(
            new CommandA(),
            new CommandB(),
            new ParallelCommandGroup(
                new CommandC(),
                new CommandD()
            ),
            new CommandE()
        );
    }
}

However, if you want one command to stop with the other, the deadlineWith decorator is probably the best approach.

You can also use the new decorators for various other behaviour

Convenience Features

[StephenBoiangiu8067]

We’ll know for sure when we can test it on the robot, but it does seem to work.
Thank you for the help!

[JackOutTheBox]

We just create ParallelCommandGroups inline in SequentialCommandGroups. It seems to work quite well.

So our commands will look something like this (with better naming of course):

public class MyCommand extends SequentialCommandGroup {
  public MyCommand() {
    addCommands(
      new FirstCommand(),
      new SecondCommand(),
      new ParallelCommandGroup(
        new FirstParallelCommand(),
        new SecondParallelCommand()
      )
    );
  }
}

[StephenBoiangiu8067]

Thank you very much!

[ExploitSage]

A CommandGroup is still a command, just stack 'em.

IE here is the Quick and Dirty auto I wrote as an example:

private final Command m_autoCommand = new ParallelCommandGroup(
  // Main Auton
  new SequentialCommandGroup(
    new ParallelCommandGroup(
      new DrivetrainArcadeDrive(m_drivetrain, ()->0.25, ()->0.0).withTimeout(2.5),
      new SetIntakeArmSetpoint(m_intakeArm, ()->IntakeArmConstants.upPositionPotentiometerValue)
    ),
    new SetIntake(m_intake, ()->IntakeConstants.inhaleSpeed).withTimeout(1.5),
    new DrivetrainArcadeDrive(m_drivetrain, ()->-0.25, ()->0.0).withTimeout(4.0)
  ),
  // Home the Lift Hooks
  new ParallelCommandGroup(
    new SetLeftLiftHook(m_leftLiftHook, ()->-0.05),
    new SetRightLiftHook(m_rightLiftHook, ()->-0.05)
  )
);