Commands

NextFTC doesn’t define its own command framework. Instead, the robot module builds directly on top of Ivy, Pedro Pathing’s command-based scheduling library. If you’ve used Ivy, WPILib commands, or NextFTC v1’s command system before, this will feel familiar.

This page covers the small surface of Ivy that the robot module touches directly. For the full command API, such as sequential and parallel groups, Command.Builder, and everything else, see Ivy’s documentation.

Building commands from a Mechanism

The most common way to create a command is through Mechanism.instant and Mechanism.infinite, which wrap Ivy’s Commands.instant/Commands.infinite and automatically call requiring(this), so the scheduler knows the command owns that mechanism’s hardware:

Kotlin

class Intake : Mechanism {
    val motor = NextMotor("intakeMotor")

    fun run() = infinite { motor.throttle = 1.0 }
    fun stop() = instant { motor.throttle = 0.0 }
}

Java

public class Intake implements Mechanism {
    NextMotor motor = new NextMotor("intakeMotor");

    public Command run() { return infinite(() -> motor.setThrottle(1.0)); }
    public Command stop() { return instant(() -> motor.setThrottle(0.0)); }
}

A command built with infinite keeps running (recomputing its body every loop) until it’s cancelled, useful for anything driven continuously by gamepad input. instant runs its body once and finishes immediately.

Checking and cancelling commands

Two Command members you’ll reach for often, both from Ivy: isScheduled (whether the command is currently running) and cancel() (stop it early). You’ll see these used by triggers to start and stop commands in response to gamepad input.

Learn more

For everything else, such as composing commands into sequences and parallel groups, writing custom commands from scratch, and the full Scheduler API, head to Ivy’s documentation.