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commandsv2/src/main/native/include/frc2/command/WaitCommand.h

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <frc/Timer.h>
+#include <units/time.h>
+
+#include "frc2/command/Command.h"
+#include "frc2/command/CommandHelper.h"
+
+namespace frc2 {
+/**
+ * A command that does nothing but takes a specified amount of time to finish.
+ *
+ * This class is provided by the NewCommands VendorDep
+ */
+class WaitCommand : public CommandHelper<Command, WaitCommand> {
+ public:
+  /**
+   * Creates a new WaitCommand.  This command will do nothing, and end after the
+   * specified duration.
+   *
+   * @param duration the time to wait
+   */
+  explicit WaitCommand(units::second_t duration);
+
+  WaitCommand(WaitCommand&& other) = default;
+
+  WaitCommand(const WaitCommand& other) = default;
+
+  void Initialize() override;
+
+  void End(bool interrupted) override;
+
+  bool IsFinished() override;
+
+  bool RunsWhenDisabled() const override;
+
+  void InitSendable(wpi::SendableBuilder& builder) override;
+
+ protected:
+  /// The timer used for waiting.
+  frc::Timer m_timer;
+
+ private:
+  units::second_t m_duration;
+};
+}  // namespace frc2