NextFTC Robot/dev.nextftc.robot/Mechanism

Mechanism

Represents a subsystem or mechanism on the robot (e.g., an arm, drivetrain, or intake).

Mechanisms encapsulate the hardware interactions and provide a centralized place to manage periodic updates and default commands within the command-based architecture.

Properties

defaultCommand

open val defaultCommand: Command

The default command that runs when this mechanism is not being controlled by a command.

Functions

coroutine

open fun coroutine(body: suspend CommandScope.() -> Unit): CoroutineCommandBuilder

Creates a coroutine-based command that requires this mechanism.

infinite

open fun infinite(action: Runnable): CommandBuilder

Creates a command that runs indefinitely and requires this mechanism.

instant

open fun instant(action: Runnable): CommandBuilder

Creates a command that runs once and requires this mechanism.

periodic

open fun periodic()

Called periodically during the OpMode loop. This is where you can update hardware reads, calculate state, or push telemetry.