What is NextFTC?

NextFTC is two things:

• A collection of libraries designed to make programming for FTC easier
• Our flagship command-based library under the same name

This guide uses a few of our libraries to aid you in writing an FTC codebase. The library-specific documentation for each of our libraries is also on this site.

TIP

To get the most out of this guide, try copying over the code yourself instead of copying and pasting.

Libraries

NextFTC is our command-based framework.

• Commands are units of code that can be executed. They consist of several steps and can be grouped into command groups, allowing them to run sequentially or in parallel.
• Subsystems help you organize your code and prevent conflicts by ensuring that no two commands using the same subsystem run simultaneously.
• Hardware is our optional module that provides built-in, ready-to-use hardware commands for almost all of your hardware needs. It supports:
  • Motors
  • Servos
  • Continuous-Rotation Servos
  • Servos with feedback (like Axons)
  • So much more!

NextControl is our robust control library.

• Control systems are the basis of NextControl. They consist of four " elements": feedback, feedforward, filter, and interpolator.
• Feedback elements provide feedback (closed-loop) control for your system. For example, PID Control, SquID Control, and Bang-Bang Control.
• Feedforward elements provide feedforward (open-loop) control. NextControl has three feedforward controllers: basic, elevator, and arm.
• Filter elements filter your sensor measurements to remove noise. Examples are low-pass filters and Kalman filters.
• Interpolator elements interpolate the setpoint in order to smooth out setpoint changes. For example, a trapezoidal motion profile or a moving-average setpoint filter.

NextBindings is our gamepad binding library.

• Buttons and Ranges are the two building blocks of NextBindings.
• Buttons can be bound to in a multitude of ways, including rising and falling edges, toggles, and state changes.
• Ranges represent a numeric variable and can be used to create buttons on certain events, for example when it is greater than a certain number. Ranges can also be mapped.

NextPedro is our integration with PedroPathing

• PedroPathing is an advanced reactive vector follower for FTC.
• Follow paths and PathChains with the FollowPath command.
• Turn your robot with the Turn and TurnTo commands.
• Position-based timing with ProximityDelay and DisplacementDelay.

NextRunner is our modernized fork of RoadRunner

• RoadRunner is a wheeled mobile robot motion planning library designed for FTC.
• Customize your Trajectory following with Followers.
• Easily queue Actions using ActionRunner.
• Create a Trajectory without TrajectoryActionBuilder.