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42 lines
1.1 KiB
Python
42 lines
1.1 KiB
Python
# validated: 2024-01-20 DS f29a7d2e501b WaitCommand.java
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from __future__ import annotations
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from wpilib import Timer
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from wpimath import units
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from wpiutil import SendableBuilder
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from .command import Command
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class WaitCommand(Command):
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"""
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A command that does nothing but takes a specified amount of time to finish.
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"""
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def __init__(self, seconds: units.seconds):
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"""
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Creates a new WaitCommand. This command will do nothing, and end after the specified duration.
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:param seconds: the time to wait, in seconds
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"""
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super().__init__()
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self._duration = seconds
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self._timer = Timer()
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self.setName(f"{self.getName()}: {seconds}")
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def initialize(self):
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self._timer.restart()
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def end(self, interrupted: bool):
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self._timer.stop()
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def isFinished(self) -> bool:
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return self._timer.hasElapsed(self._duration)
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def runsWhenDisabled(self) -> bool:
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return True
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def initSendable(self, builder: SendableBuilder) -> None:
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super().initSendable(builder)
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builder.addDoubleProperty("duration", lambda: self._duration, lambda _: None)
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