> For the complete documentation index, see [llms.txt](https://docs.cb21829.org/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.cb21829.org/ftc-java-beginner-guide/hardware-fundamentals-motors-and-servos.md).

# Hardware fundamentals: motors and servos

Everything on the robot is grabbed from `hardwareMap` during init, using the exact name from your robot configuration.

### DC motors

```java
DcMotor intake = hardwareMap.get(DcMotor.class, "intake");

intake.setDirection(DcMotor.Direction.REVERSE);
intake.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
intake.setPower(1.0);
```

Use `setDirection()` to make positive power spin the way you want. Use `BRAKE` if you want the motor to hold when power is zero.

Prefer `DcMotorEx` when you need extra features like velocity control or current reading:

```java
DcMotorEx lift = hardwareMap.get(DcMotorEx.class, "lift");
```

### Servos

A standard servo moves to a position between `0.0` and `1.0`.

```java
Servo claw = hardwareMap.get(Servo.class, "claw");
claw.setPosition(0.0);
claw.setPosition(1.0);
claw.setPosition(0.5);
```

`getPosition()` returns the last target you commanded, not a measured angle.

### Continuous rotation servos

A `CRServo` spins continuously and uses power instead of position.

```java
CRServo spinner = hardwareMap.get(CRServo.class, "spinner");
spinner.setPower(1.0);
spinner.setPower(0.0);
spinner.setPower(-1.0);
```


---

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