3847 2024 - Simulation and Prep Code

Uses 604's Simulation Example as a base and brings in our 2024 SpectrumLib with updates

General Guidelines

• Each Mechanism (motor that is following another) has it's own folder
• All values that can be tuned or configured should live in a mechanismConfig file, NO MAGIC NUMBERS inside of mechanisms
• Values that need to be configued for different robots should have a setter method in the mechanismConfig file so the robotConfigs can update them
• Publish triggers in Mechanism classes that allow you to check mechanism state like Trigger = elevator is at a specific height for scoring, etc.
• Mechanism methods should not be public when possible unless they return a Command or Trigger.

Check Issues for improvements that we still need to make

Key Elements

• Multi-Folder Organization
  • Makes it easy to divide up work between multiple programmers and isolate changes.
  • Simplifies pull requests as main files (robot.java, etc) don't get modified as often
• Mechanism Library Class
  • Wraps most of the TalonFX calls in easier to use fuctions
  • Makes it easy to configure a TalonFX for each mechanism
  • Allows you to configure mechanism for each robot
  • allows you to only configure motors if the mechanism is "Attached" this way you can run on different robots
• Pilot Class
  • Only configures triggers once the controller is connected
  • Wraps all the gamepad/xbox controls
  • Makes it easier to have modifier buttons (like LeftBumper+x does something else for x alone)
• Simulation Templates
  • RollerSim, LinearSim, and ArmSim allows you to easily add simulation support to all mechanisms
• SpectrumLib.Util.TuneValue
  • Makes it simple to setup a value on the smartdashboard to return a value to a caommand and tune it.

• CTRE swerve- Simulation built in

  • Added Configuration options to so it can run on multiple robots and set different encoder offsets and other configs

• PhotonVision sim

  • Updated based on the CTRE swerve sim pose
  • Visualized using the built in Field2d widget & web GUI

• AdvantageScope for 3d viz and plotting

  • Basic layout provided

Additional Resources

• WPILib simulation
• WPILib physics simulation
• PhotonVision simulation
• Mechanism2d
• AdvantageScope 3D Field

Controls

• Left stick X/Y: Swerve translate
• Tirggers: Swerve rotate

Setup

With just WPILib simulation GUI

• Ensure the Arm Viz and Sim Field are displayed

With AdvantageScope

• In AdvantageScope, click File > Import Layout and select advantagescope_layout.json.
• Connect to the local simulator File > Connect to Simulator

PhotonVision

• View PhotonVision camera sim at http://localhost:1182