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A simple, easy-to-use command system for FTC.

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Quick Start

Commands are executed through CommandRunner instances. Every Command implements three methods:

• void init() - Runs once when the command starts
• void loop() - Runs continuously until finished
• boolean isFinished() - Returns true when complete

Basic Structure

Build complex behaviors by nesting commands:

Command autonomous = new Command(
    new SeriesCommand(
        new ParallelCommand(
            new MoveArm(Arm.Targets.HIGH),
            new OpenClaw()
        ),
        new DriveForward(24)
    )
);

This runs MoveArm and OpenClaw simultaneously, then executes DriveForward after both complete. NOTE: These are examples, NOT built in Commands

Built-in Commands

Scheduling Commands

• SeriesCommand - Runs commands one after another
• ParallelCommand - Runs multiple commands simultaneously

Utility Commands

• SleepCommand - Waits for a specified duration
• AwaitCommand - Waits until a condition becomes true (with optional timeout)
• CustomCommand - Executes a Runnable once (supports lambda expressions)

Control Commands

• SwitchCommand - Executes different commands based on a condition
• StoppableCommand - Wrapper that allows pausing/stopping commands during runtime
  • stop() - Ends the command immediately
  • disable() - Pauses execution (can be re-enabled)
  • enable() - Resumes execution

Debug Commands

• TelemetryCommand - Creates telemetry displays with method chaining

  telemetryCommand
      .addLine("Robot Status")
      .addData("Position", () -> robot.getPosition())
      .addDisabledTag();

Required Subsystems

Robot

Central container for all hardware and subsystems. Access via Robot.getInstance() - this class cannot be instantiated directly.

TelemetryProfiles

Manages saved TelemetryCommand instances mapped to enums.

• getProfile(Profile profile) - Returns a copy of the specified telemetry profile

Example Usage

// Create a complex autonomous routine
Command auto = new SeriesCommand(
    new TelemetryCommand().addLine("Starting autonomous..."),
    new ParallelCommand(
        new MoveArm(Arm.Targets.PICKUP),
        new DriveToPosition(startPosition)
    ),
    new AwaitCommand(() -> sensor.isPressed(), 5.0), // Wait max 5 seconds
    new CustomCommand(() -> claw.close()),
    new SleepCommand(1000) // Wait 1 second
);