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This commit is contained in:
Michael Mikovsky
2025-03-05 19:42:36 -07:00
parent aeedebd095
commit a6daadb537
15 changed files with 191 additions and 93 deletions
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src/main/java/frc4388/robot/commands/WhileTrueCommand.java
+6 -4
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@@ -34,24 +34,26 @@ public class WhileTrueCommand extends Command {
*/
@SuppressWarnings("this-escape")
public WhileTrueCommand(Command whileTrue, BooleanSupplier condition) {
m_whileTrue = requireNonNullParam(whileTrue, "onTrue", "WhileTrueCommand");
m_whileTrue = requireNonNullParam(whileTrue, "whileTrue", "WhileTrueCommand");
m_condition = requireNonNullParam(condition, "condition", "WhileTrueCommand");
CommandScheduler.getInstance().registerComposedCommands(whileTrue);
//CommandScheduler.getInstance().registerComposedCommands(whileTrue);
addRequirements(whileTrue.getRequirements());
// addRequirements(whileTrue.getRequirements());
}
@Override
public void initialize() {
if(m_condition.getAsBoolean())
m_whileTrue.initialize();
m_whileTrue.initialize();
}
@Override
public void execute() {
m_whileTrue.execute();
System.out.println("Loop, " + !m_whileTrue.isFinished() + ", " + m_condition.getAsBoolean());
if(!m_whileTrue.isFinished())
return;