NextFTC Documentation

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Motors ​

NextFTC has wrappers for your motors that add several useful features, such as power caching and encoder offsets. All motors implement the Controllable and Powerableinterfaces.

MotorEx ​

MotorEx is NextFTC's wrapper over a DcMotorEx. To create one, you can do one of the following:

kotlin
val motorEx = MotorEx { dcMotorEx }
val motorEx = MotorEx(dcMotorEx)
val motorEx = MotorEx("motor_name")

MotorEx has several modifiers that can be used to change the behavior. All modifiers are mutating and return the MotorEx. The order in which the modifiers are applied will not affect the behavior.

ModifierDescription
.zeroed()Resets the position
.atPosition(position)Sets the current position to a position
.reversed()Reverses the direction of the motor
.floatMode()Sets the zero power behavior to float
.breakMode()Sets the zero power behavior to break

For example:

kotlin
MotorEx("motor_name")
    .zeroed()
    .reversed()
    .breakMode()

MotorGroup ​

MotorGroup is a container for multiple Controllables (e.g. MotorEx) that are mechanically linked. The first motor passed to it is the leader and the rest are followers. The leader is the one whose encoder will be read.

As MotorGroup implements Controllable, it can be passed anywhere you would normally pass a MotorEx. Creating a MotorGroup is easy:

kotlin
val myMotorEx = MotorEx("motor1")
val myMotorEx2 = MotorEx("motor2").reversed()
val myMotorGroup = MotorGroup(myMotorEx, myMotorEx2)

// or inline:
val myMotorGroup = MotorGroup(
    MotorEx("motor1"),
    MotorEx("motor2").reversed()
)