Added LoopTimeComponent and VoltageCompensatingMotor to docs

src/guide/opmodes/teleop.md

@@ -37,7 +37,9 @@ public class TeleOpProgram extends NextFTCOpMode {
 Just like for autonomous, we need to add the required subsystems as a
 `SubsystemComponent`. We will also add a
 `BulkReadComponent`. Additionally, we will add a `BindingsComponent`, which
-allows us to use gamepads from [NextBindings](/bindings).
+allows us to use gamepads from [NextBindings](/bindings). You could also
+choose to add an instance of the LoopTimeComponent which will log your
+looptimes to your telemetry periodically.
 
 :::tabs key:code
 
@@ -49,7 +51,8 @@ class TeleOpProgram : NextFTCOpMode() {
         addComponents(
             SubsystemComponent(Lift, Claw),
             BulkReadComponent,
-            BindingsComponent
+            BindingsComponent,
+            LoopTimeComponent()
         )
     }
 }
@@ -63,7 +66,8 @@ public class TeleOpProgram extends NextFTCOpMode {
         addComponents(
             new SubsystemComponent(Lift.INSTANCE, Claw.INSTANCE),
             BulkReadComponent.INSTANCE,
-            BindingsComponent.INSTANCE
+            BindingsComponent.INSTANCE,
+            new LoopTimeComponent()
         );
     }
 }

src/nextftc/concepts/components.md

@@ -10,6 +10,7 @@ NextFTC has several built-in components, including:
 
 - `BulkReadComponent`
 - `BindingsComponent` (for [NextBindings](/bindings))
+- `LoopTimeComponent`
 - `PedroComponent` (for the PedroPathing Extension)
 - `SubsystemComponent`
 - `CommandManager`
@@ -90,4 +91,4 @@ init {
 :::
 
 Components' `pre`- functions are called in the order they're set and `post`- 
-functions are called in the reverse order.
+functions are called in the reverse order.

src/nextftc/hardware/motors-and-servos/feedback-servos.md

@@ -52,35 +52,19 @@ The caching tolerance is the same for any normal `ServoEx` or other implementati
 == Kotlin 
 
 ```kotlin
-val servo: FeedbackCRServoEx = FeedbackCRServoEx("analog-name", "servo-name", 0.01)
-
-// Alternatively
 val servo: FeedbackCRServoEx = FeedbackCRServoEx {
     cacheTolerance = 0.01, // Or whatever you'd like to use
     feedbackFactory = { ActiveOpMode.hardwareMap.analogInput.get("analog-name") },
     servoFactory = { ActiveOpMode.hardwareMap.crservo.get("servo-name") }
 }
-
-// Alternatively
-val analogInput: AnalogInput = ActiveOpMode.hardwareMap.analogInput.get("analog-name")
-val servoFactory: CRServo = ActiveOpMode.hardwareMap.crservo.get("servo-name")
-val servo: FeedbackCRServoEx = FeedbackCRServoEx(analogInput, servoFactory, 0.01) // Using cache tolerance = 0.01
 ```
 == Java
 ```java
-FeedbackCRServoEx servo = new FeedbackCRServoEx("analog-name", "servo-name", 0.01);
-
-// Alternatively
 FeedbackCRServoEx servo = new FeedbackCRServoEx(
     0.01, // Or your preferred cache tolerance
     () -> { ActiveOpMode.hardwareMap().analogInput.get("analog-name") }, 
     () -> { ActiveOpMode.hardwareMap().crservo.get("servo-name") }
 );
-
-// Alternatively
-AnalogInput analogInput = ActiveOpMode.hardwareMap.analogInput.get("analog-name");
-CRServo servoFactory = ActiveOpMode.hardwareMap.crservo.get("servo-name");
-FeedbackCRServoEx servo = new FeedbackCRServoEx(analogInput, servoFactory, 0.01);
 ```
 ==
 :::

src/nextftc/hardware/motors-and-servos/motors.md

@@ -102,4 +102,39 @@ MotorGroup myMotorGroup = new MotorGroup(
 );
 ```
 
-:::
+:::
+
+## `VoltageCompensatingMotor`
+
+`VoltageCompensatingMotor` is a class that takes into consideration the voltage
+of the robot to set the power of a `MotorEx`, allowing the system to set power to
+more or less than the user input, increasing the motor's consistency/stability
+to perform in abnormal voltage levels. NextFTC allows for easy use of the 
+`VoltageCompensatingMotor` as shown below:
+
+:::tabs key:code
+== Kotlin
+
+```kotlin
+val myMotorEx = MotorEx("motor_name")
+
+val myVoltageCompensatingMotor = VoltageCompensatingMotor(myMotorEx)
+
+// or with "ideal" voltage(Volts) and voltage caching time(seconds/Duration) specifications
+val myVoltageCompensatingMotor = VoltageCompensatingMotor(myMotorEx, 500.milliseconds, 12.0)
+val myVoltageCompensatingMotor = VoltageCompensatingMotor(myMotorEx, 0.5, 12.0)
+```
+
+== Java
+
+```java
+MotorEx myMotor = new MotorEx("motor_name")
+
+VoltageCompensatingMotor myVoltageCompensatingMotor = new VoltageCompensatingMotor(myMotorEx)
+
+// or with "ideal" voltage(Volts) and voltage caching time(seconds) specifications
+VoltageCompensatingMotor myVoltageCompensatingMotor = new VoltageCompensatingMotor(myMotorEx, 0.5, 12.0)
+VoltageCompensatingMotor myVoltageCompensatingMotor = new VoltageCompensatingMotor(myMotorEx, "500ms", 12.0)
+```
+
+:::