ConditionAction

Overview

ConditionAction is a special RR Action that runs another action only if a specified condition is true.

This is useful for conditionally executing parts of a sequence based on runtime values, such as the selected alliance color, gamepad inputs, or other in-match decisions.

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Usage

ConditionAction(Action, Supplier<Boolean>)

runBlocking(
    new SequentialAction(
        new MotorToPositionAction(armMotor, 1000), // Extend arm
        new ConditionAction(
            new ServoToPositionAction(claw, 0.0),  // Open claw if A is being pressed
            () -> gamepad1.a                       // after the arm is fully extended
        ),
        new MotorToPositionAction(armMotor, 0),    // Retract arm
    )
);

The condition is only evaluated once, before the execution. If it evaluates to false, the action is skipped entirely.