NextFTC Documentation

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Servo Commands ​

Just like for motors, NextFTC has commands to help you easily control your servos. NextFTC currently has three commands to help you control your servos: ServoToPosition, MultipleServosToPosition, and MultipleServosToSeperatePositions.

IMPORTANT

Some time in the future, NextFTC will get a servo wrapper, similar to MotorEx.

ServoToPosition ​

ServoToPosition takes a servo and a position:

kotlin
ServoToPosition(servo, position, setOf(subsystems))

// or in a subsystem:
ServoToPosition(servo, position, this)

MultipleServosToPosition ​

MultipleServosToPosition is like ServoToPosition, but instead of taking a servo, it takes a list of servos.

kotlin
MultipleServosToPosition(
    listOf(
        servo1,
        servo2
    ),
    position,
    setOf(subsystems)
)

// or in a subsystem:
MultipleServosToPosition(
    listOf(
        servo1,
        servo2
    ),
    position,
    this
)

MultipleServosToSeperatePositions ​

MultipleServosToSeperatePositions is like MultipleServosToPosition but instead of moving them to the same position, it moves them to different positions.

WARNING

Although in some cases MultipleServosToSeperatePositions can be useful, in most cases where you think you need it there is a better option. Often, one of the following can be done:

  • Reverse one of the servos. For example, if one servo must go to 0.4 and one must go to 0.6, you can reverse one and then use MultipleServosToPosition.
  • Split it into seperate subsystems. Remember: you should have one subsystem for every part of your robot that can be controlled independently.

MultipleServosToSeperatePositions takes a map of servos to positions.

kotlin
MultipleServosToSeperatePositions(
    mapOf(
        servo1 to position1,
        servo2 to position2
    ),
    setOf(subsystems)
)

// or in a subsystem:
MultipleServosToSeperatePositions(
    mapOf(
        servo1 to position1,
        servo2 to position2
    ),
    this
)

NOTE

See the hardware reference for more information.