nextftc

NextFTC

NextFTC is a command-based framework for FTC robotics written in Kotlin. It provides structured patterns for commands, subsystems, and gamepad bindings.

Quick Start

Dependencies (build.dependencies.gradle)

implementation 'dev.nextftc:ftc:1.0.1'
implementation 'dev.nextftc:hardware:1.0.1'      // Optional: hardware wrappers
implementation 'dev.nextftc:bindings:1.0.1'     // Gamepad bindings
implementation 'dev.nextftc:control:1.0.0'      // PID/feedforward
implementation 'dev.nextftc.extensions:pedro:1.0.0'  // Pedro Pathing

Key Imports

// Core OpMode
import dev.nextftc.ftc.NextFTCOpMode
import dev.nextftc.ftc.Gamepads
import dev.nextftc.ftc.ActiveOpMode
import dev.nextftc.ftc.components.BulkReadComponent

// Commands
import dev.nextftc.core.commands.Command
import dev.nextftc.core.commands.utility.LambdaCommand
import dev.nextftc.core.commands.utility.InstantCommand
import dev.nextftc.core.commands.groups.SequentialGroup
import dev.nextftc.core.commands.groups.ParallelGroup
import dev.nextftc.core.commands.delays.Delay

// Components & Subsystems
import dev.nextftc.core.components.Component
import dev.nextftc.core.components.SubsystemComponent
import dev.nextftc.core.components.BindingsComponent
import dev.nextftc.core.subsystems.Subsystem

// Pedro Extension
import dev.nextftc.extensions.pedro.PedroComponent
import dev.nextftc.extensions.pedro.PedroDriverControlled
import dev.nextftc.extensions.pedro.FollowPath

Basic TeleOp

@TeleOp(name = "My TeleOp")
class MyTeleOp : NextFTCOpMode() {
    init {
        addComponents(
            BulkReadComponent,
            BindingsComponent,
            PedroComponent(Constants::createFollower)
        )
    }

    override fun onStartButtonPressed() {
        // Field-centric driving
        PedroDriverControlled(
            Gamepads.gamepad1.leftStickY,
            Gamepads.gamepad1.leftStickX,
            Gamepads.gamepad1.rightStickX,
            false  // field-centric
        )()

        // Button bindings
        Gamepads.gamepad2.a whenBecomesTrue LiftCommand()
    }
}