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commandsv2/src/main/java/org/wpilib/command2/WaitUntilCommand.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.util.ErrorMessages.requireNonNullParam;
+
+import edu.wpi.first.wpilibj.Timer;
+import java.util.function.BooleanSupplier;
+
+/**
+ * A command that does nothing but ends after a specified match time or condition. Useful for
+ * CommandGroups.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
+ */
+public class WaitUntilCommand extends Command {
+  private final BooleanSupplier m_condition;
+
+  /**
+   * Creates a new WaitUntilCommand that ends after a given condition becomes true.
+   *
+   * @param condition the condition to determine when to end
+   */
+  public WaitUntilCommand(BooleanSupplier condition) {
+    m_condition = requireNonNullParam(condition, "condition", "WaitUntilCommand");
+  }
+
+  /**
+   * Creates a new WaitUntilCommand that ends after a given match time.
+   *
+   * <p>NOTE: The match timer used for this command is UNOFFICIAL. Using this command does NOT
+   * guarantee that the time at which the action is performed will be judged to be legal by the
+   * referees. When in doubt, add a safety factor or time the action manually.
+   *
+   * @param time the match time after which to end, in seconds
+   */
+  public WaitUntilCommand(double time) {
+    this(() -> Timer.getMatchTime() - time > 0);
+  }
+
+  @Override
+  public boolean isFinished() {
+    return m_condition.getAsBoolean();
+  }
+
+  @Override
+  public boolean runsWhenDisabled() {
+    return true;
+  }
+}