Skip to content

Add idleUntil for Mechanisms #8902

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
Advay17 wants to merge 3 commits into
base: main
Choose a base branch
from
+11 −0
Open

Add idleUntil for Mechanisms #8902

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
3d9b14a
Add idleUntil
Advay17 May 18, 2026
e41ce95
Update Mechanism.java
Advay17 May 18, 2026
23b1cf9
Update Mechanism.java
Advay17 May 18, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
11 changes: 11 additions & 0 deletions commandsv3/src/main/java/org/wpilib/command3/Mechanism.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
package org.wpilib.command3;

import java.util.List;
import java.util.function.BooleanSupplier;
import java.util.function.Consumer;
import org.wpilib.annotation.NoDiscard;
import org.wpilib.units.measure.Time;
Expand Down Expand Up @@ -145,6 +146,16 @@ public Command idleFor(Time duration) {
return idle().withTimeout(duration);
}

/**
* Returns a command that idles this mechanism until the given condition becomes true.
*
* @param condition What condition the mechanism should wait for.
* @return A new idle command.
*/
public Command idleUntil(BooleanSupplier condition) {
return idle().until(condition).withAutomaticName();
}

/**
* Gets all running commands that require this mechanism. Commands are returned in the order in
* which they were scheduled. The returned list is read-only. Every command in the list will have
Expand Down
Loading