Command Builder Example

CAUTION

This example requires NextFTC's command-based library, and the compatibility module described here.

If you are using NextFTC's command-based system, the NextRunner compatibility module comes with a TrajectoryCommandBuilder, which acts like the TrajectoryActionBuilder from NextRunner's actions module, but using NextFTC's commands!

The NextFTC branch of the QuickStart (linked here) contains MecanumDrive and TankDrive subsystems that have a commandBuilder method, with an optional startPose: Pose2d parameter. If startPose is not provided, it defaults to localizer.pose.

The following is an example of how to use commandBuilder with NextFTC's command system. Note that it uses NextFTC 0.6:

class CommandBuilderExampleKt() : NextFTCOpMode(MecanumDrive.INSTANCE) {
    //despite the OpMode being written in Kotlin,
    //the drive subsystem is written in Java,
    //so its instance must be accessed with .INSTANCE
    lateinit var command: Command

    override fun onInit() {
        command = MecanumDrive.INSTANCE.commandBuilder()
            .forward(10.0)
            .splineTo(Vector2d(10.0, 10.0), Math.toRadians(90.0))
            .build()

    }

    override fun onStartButtonPressed() {
        command()
    }
}