How do I make a NamedCommand that actually works?

Technical Programming
1

This is my current code


              NamedCommands.registerCommand("CollectNote", CollectorCommands.getSetTargetStateCommand(CollectorConstants.CollectorState.COLLECTING).alongWith(RollerCommands.getSetTargetStateCommand(RollerConstants.RollerState.COLLECTION)).withTimeout(1));

every time it runs this part, the autonomous freezes and doesn’t continue to the next action. How do I make it work?

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2

Just to make sure the autonomous just freezes, no errors?

3

There are no errors. I’m pretty sure the command never stops so the path never continues.

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4

Try that. Also you seem to have a lot of command composition. PathPlanner supports defining command composition in the GUI.

5

I don’t know how to fix it to make it stop after a few seconds. I tried adding the .withTimeout() but it didn’t work.

6

Maybe try replacing the command with another one (like one that just prints “hi”), and see if the auto still doesn’t work. This isn’t really a solution, just trying to find a cause.

7

.alongWith makes the commands run in parallel. I think the .withTimeout is only impacting 1 of the 2 commands you are running parallel.

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8

I think this was the problem. I split it into 2 commands and it looks like it’s working now

9

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