sequential-command-group.rst

Sequential Command Group

The SequentialCommandGroup is the most popular command group. Works by running a list of commands in sequential order. Starts with the first command in the list then the second and so on.

Warning

The SequentialCommandGroup will not finish unless all the commands finish. Also if a command in the list does not finish the next command in line will not start.

Example code

.. tabs::

    .. tab:: Java

        .. code-block:: java
            :linenos:

            import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;

            public class Example extends SequentialCommandGroup
            {
                public Example()
                {
                    addCommands(
                        //Drive Forward
                        new DriveForward(),

                        //Drive Reverse
                        new DriveReverse());
                }
            }

    .. tab:: C++ (Header)

        .. code-block:: c++
            :linenos:

            #prama once

            #include <frc2/command/CommandHelper.h>
            #include <frc2/command/SequentialCommandGroup.h>

            class Example
                : public frc2::CommandHelper<frc2::SequentialCommandGroup, Example>
            {
                public:

                    Example(void);
            };

    .. tab:: C++ (Source)

        .. code-block:: c++
            :linenos:

            #include "commands/Example.h"

            Example::Example(void)
            {
                AddCommands(

                    //Drive Forward
                    DriveForward(),

                    //Drive Backwards
                    DriveReverse());
            }

In the above example using SequentialCommandGroup the command DriveForward() will be exeuted first and when complete the command DriveReverse() will be executed.

Note

If DriveForward() does not end then DriveReverse() will never start.