Wait Until Command

The WaitUntilCommand is an upgraded version of WaitCommand as a boolean condition can be added.

Example

Java

C++

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// Waits 10 seconds
new WaitUntilCommand(10);

// Waits for limit switch to be true
new WaitUntilCommand(isLimitHit());

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// Waits 10 seconds
frc2::WaitUntilCommand(10.0_s);

// Waits for limit switch to be true
frc2.WaitUntilCommand([&Limit] {return isLimitHit();});