Triggers and RangeTriggers

Instead of polling gamepad1.a in a loop and manually deciding when to start or stop a command, NextFTC lets you bind gamepad input directly to commands using Trigger and RangeTrigger. Once bound, these are polled automatically every loop, so no manual wiring is required beyond the binding itself.

The examples below use a driver object of type CommandGamepad, which wraps a gamepad and exposes each of its buttons and sticks as a Trigger or RangeTrigger. See that page for how to construct one.

Trigger

A Trigger wraps a boolean condition and lets you bind commands to how that condition changes over time:

Method	Starts the command when…	Also stops/cancels it
onTrue	condition goes false → true	—
onFalse	condition goes true → false	—
onChange	condition changes at all	—
whileTrue	condition goes false → true	when it goes back to false
whileFalse	condition goes true → false	when it goes back to true
toggleOnTrue	condition goes false → true (toggles running/cancelled)	—
toggleOnFalse	condition goes true → false (toggles running/cancelled)	—

Kotlin

driver.a.onTrue(claw.close())
driver.b.whileTrue(intake.run())

Java

driver.a().onTrue(claw.close());
driver.b().whileTrue(intake.run());

Triggers can be composed with and, or, and negate, and refined with debounce(seconds) (ignore brief flickers) and multiPress(requiredPresses, windowTime) (e.g. double-press detection):

Kotlin

driver.a.and(driver.rightBumper).onTrue(climb.start())

Java

driver.a().and(driver.rightBumper()).onTrue(climb.start());

RangeTrigger

A RangeTrigger wraps an analog value (a stick axis or an analog trigger) and lets you derive a Trigger from a threshold or range, in addition to reading the raw value directly:

Method	Active when…
isOver(threshold)	value is greater than threshold
isUnder(threshold)	value is less than threshold
isBetween(lower, upper)	value is within [lower, upper]

Kotlin

driver.rightTrigger.isOver(0.5).onTrue(intake.run())

val rawValue = driver.leftStickY.value

Java

driver.rightTrigger().isOver(0.5).onTrue(intake.run());

double rawValue = driver.leftStickY().getValue();

The result of isOver/isUnder/isBetween is a regular Trigger, so all of the Trigger binding methods above are available on it too.