Parallel Race Group

The ParallelRaceGroup is similar to the ParallelCommandGroup except that a race condition is being created. All commands start at the same time but when one command is finished it interrupts all the other commands running and ends the command group.

Example code

Java

C++ (Header)

C++ (Source)

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

public class Example extends ParallelRaceGroup
{
    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/ParallelRaceGroup.h>

class Example
    : public frc2::CommandHelper<frc2::ParallelRaceGroup, 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 ParallelRaceGroup the commands DriveForward() and DriveReverse() will be executed at the same time.

Note

If DriveForward() or DriveReverse() complete before the other than the other will be interrupted and stop running.