Parallel Command Group

The ParallelCommandGroup is just like the SequentialCommandGroup except that all the commands run at the same time. The command group will only finish when all commands are finished.

Example code

Java

C++ (Header)

C++ (Source)

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

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

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

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#prama once

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

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

        Example(void);
};

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#include "commands/Example.h"

Example::Example(void)
{
    AddCommands(

        //Drive Forward
        DriveForward(),

        //Drive Backwards
        DriveReverse());
}

In the above example using ParallelCommandGroup the commands DriveForward()``and ``DriveReverse() will be executed at the same time.

Note

If DriveForward() and DriveReverse() do not complete then whatever calls Example() will never move on.