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()
    }
}

Basic Autonomous

@Autonomous(name = "My Auto")
class MyAuto : NextFTCOpMode() {
    init {
        addComponents(
            BulkReadComponent,
            PedroComponent(Constants::createFollower)
        )
    }

    override fun onStartButtonPressed() {
        SequentialGroup(
            FollowPath(path1, holdEnd = true),
            Delay(0.5.seconds),
            FollowPath(path2, holdEnd = true)
        )()
    }
}

Core Concepts

Components

Components are modular lifecycle hooks with pre/post methods for all OpMode phases:

Add to OpModes via addComponents():

See COMPONENTS.md for full lifecycle details.

Command Scheduling

// Schedule a command
myCommand()                           // Shorthand
CommandManager.scheduleCommand(cmd)   // Explicit

// Command groups
SequentialGroup(cmd1, cmd2, cmd3)()   // Run in order
ParallelGroup(cmd1, cmd2)()           // Run simultaneously

// Delays (inside SequentialGroup)
Delay(0.5.seconds)

Anti-Patterns

Don’t: Forget to schedule commands

// BAD - Command is created but never runs
SequentialGroup(path1, path2)  // Missing ()!

// GOOD - Call () to schedule
SequentialGroup(path1, path2)()

Don’t: Block in command update()

// BAD - Blocking stops all other commands
override fun update() {
    Thread.sleep(100)  // Never block!
    while (!sensorReady) { }  // Never poll-wait!
}

// GOOD - Use isDone() for completion checks
override fun update() {
    // Quick, non-blocking work only
}
override fun isDone() = sensorReady

Don’t: Forget required components

// BAD - Bindings won't work without component
class MyTeleOp : NextFTCOpMode() {
    override fun onStartButtonPressed() {
        Gamepads.gamepad1.a whenBecomesTrue cmd  // Fails silently!
    }
}

// GOOD - Add BindingsComponent
class MyTeleOp : NextFTCOpMode() {
    init {
        addComponents(BindingsComponent)
    }
}

Don’t: Access hardware before init

// BAD - hardwareMap is null in constructor
class MyOp : NextFTCOpMode() {
    val motor = hardwareMap.get(...)  // NullPointerException!
}

// GOOD - Access hardware in onInit() or later
class MyOp : NextFTCOpMode() {
    lateinit var motor: DcMotor
    override fun onInit() {
        motor = hardwareMap.get(...)
    }
}

Reference Documentation

• COMPONENTS.md – Component lifecycle (pre/post hooks for all phases)
• COMMANDS.md – Command lifecycle and creation
• SUBSYSTEMS.md – Subsystem patterns
• BINDINGS.md – Gamepad binding syntax
• PEDRO_EXTENSION.md – Path following
• HARDWARE.md – Motor/servo wrappers
• CONTROL.md – PID and feedforward