Custom Commands

While NextFTC includes many useful commands, you often will need to create your own.

The recommended way to create a command is by using the LambdaCommand class, which allows you to define the command's behavior using lambda functions. This approach is concise and flexible, making it easy to create custom commands without needing to create a new class for each command.

Here is how the builtin RunToPosition command could be implemented using LambdaCommand:

public static Command runToPosition(ControlSystem system, double position, KineticState tolerance) {
    return new LambdaCommand("RunToPosition(" + position + ")")
            .setStart(() -> system.setGoal(new KineticState(position)))
            .setIsDone(() -> system.isWithinTolerance(tolerance))
            .requires(system);
{

Because Java doesn't have default parameters, we must make another method to use a default tolerance. This example uses a tolerance of 10.0:

public static Command runToPosition(ControlSystem system, double position) {
    return runToPosition(system, position, new KineticState(10.0));
}

The setStart, setUpdate, setIsDone, and setStop methods directly map to the methods of the Command class.