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commandsv2/src/main/java/org/wpilib/command2/WaitCommand.java

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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.
+
+package edu.wpi.first.wpilibj2.command;
+
+import static edu.wpi.first.units.Units.Seconds;
+
+import edu.wpi.first.units.measure.Time;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
+import edu.wpi.first.wpilibj.Timer;
+
+/**
+ * A command that does nothing but takes a specified amount of time to finish.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
+ */
+public class WaitCommand extends Command {
+  /** The timer used for waiting. */
+  protected Timer m_timer = new Timer();
+
+  private final double m_duration;
+
+  /**
+   * Creates a new WaitCommand. This command will do nothing, and end after the specified duration.
+   *
+   * @param seconds the time to wait, in seconds
+   */
+  @SuppressWarnings("this-escape")
+  public WaitCommand(double seconds) {
+    m_duration = seconds;
+    SendableRegistry.setName(this, getName() + ": " + seconds + " seconds");
+  }
+
+  /**
+   * Creates a new WaitCommand. This command will do nothing, and end after the specified duration.
+   *
+   * @param time the time to wait
+   */
+  public WaitCommand(Time time) {
+    this(time.in(Seconds));
+  }
+
+  @Override
+  public void initialize() {
+    m_timer.restart();
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+    m_timer.stop();
+  }
+
+  @Override
+  public boolean isFinished() {
+    return m_timer.hasElapsed(m_duration);
+  }
+
+  @Override
+  public boolean runsWhenDisabled() {
+    return true;
+  }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    super.initSendable(builder);
+    builder.addDoubleProperty("duration", () -> m_duration, null);
+  }
+}