NextFTC Documentation

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Utilities ​

NextFTC has a bunch of utility commands to help you simplify your code!

InstantCommand ​

An InstantCommand runs a function and ends instantly.

kotlin
InstantCommand {
    // code here
}

NullCommand ​

A NullCommand is a placeholder command that does nothing. It can take an arbitrary amount of parameters when used as a placeholder for another command.

kotlin
NullCommand(parameter1, parameter2)

ForcedParallelCommand ​

A ForcedParallelCommand schedules another command and instantly ends. This can be useful in SequentialGroups where you want to start a command and move on.

kotlin
ForcedParallelCommand(command)

SingleFunctionCommand ​

A SingleFunctionCommand is very similar to an Action from RoadRunner Actions. It only has one function that is run every loop and returns whether or not it is done.

kotlin
class MyCommand: SingleFunctionCommand() {
    override fun run(): Boolean {
        // do stuff here
        return false // don't continue
    }
}

Alternatively, you can create a SingleFunctionCommand inline with a lambda:

kotlin
SingleFunctionCommand {
    // do stuff here
    return false // don't continue
}

PerpetualCommand ​

A PerpetualCommand wraps another command and never finishes unless it is interrupted. It simply ignores the isDone condition on the command it wraps.

kotlin
PerpetualCommand(commandToWrap)

Alternatively, you can use the .perpetually() utility:

kotlin
commandToWrap.perpetually()

NOTE

See the utilities reference for more information.