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Command Timeout Helper

Disclaimer: WIP and untested on 2026 hardware; adapt abort conditions to your robot. Custom code built on WPILib APIs (not official WPILib sample).

Purpose: Prevent commands (climb/intake/auto steps) from hanging indefinitely; provide a simple timeout/abort wrapper.

Code (Java/WPILib)

public class SafeCommands {
  public static Command withTimeoutOrAbort(Command cmd, double seconds, BooleanSupplier abort) {
    return cmd.withTimeout(seconds).until(abort);
  }
}

Usage

Command safeClimb = SafeCommands.withTimeoutOrAbort(
    new ClimbCommand(climbSubsystem, endgameSupplier, ClimbCommand.Level.L2, abortBtn::get),
    5.0,
    () -> abortBtn.get());

Pitfalls

  • Make sure abort checks inputs that actually stop the mechanism safely.
  • Timeouts should be generous enough not to fight normal completion.