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ToughTechs151 / robot-template

Template for Tough Techs robots.
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Create example code for programming with SIM code before the robot is ready. #4

Open blu28 opened 1 year ago

blu28 commented 1 year ago

See https://docs.wpilib.org/en/stable/docs/software/wpilib-tools/robot-simulation/index.html for information on Simulation facilities in WPILIB.

The following physics simulation classes are available in WPILib: LinearSystemSim, for modeling systems with linear dynamics FlywheelSim DifferentialDrivetrainSim ElevatorSim, which models gravity SingleJointedArmSim, which models gravity BatterySim, which simply estimates battery voltage sag based on drawn currents

We can use them to simulate our planned robot subsystems. If there isn't one applicable, make a new one.

Open Question: 3rd party libraries do not all support the simulation API. How to simulate those?

blu28 commented 9 months ago

Arm sim integrated with PR #69