Robot Simulation Example

A barebones robot simulation example that utilizes:

• CTRE swerve & simuation
• WPILib arm and flywheel physics simulation
• PhotonVision simulation
• AdvantageScope

Note that this is meant to be used as reference, not as a base template for your robot.

simviz.mov

Key Elements

• CTRE swerve
  • Simulation built in
• Example intake subsystem
  • Utilizes WPILib's SingleJointedArmSim and FlywheelSim to simulate arm and roller physics
  • Visualized with WPILib's Mechanism2d widget
• 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
• Right stick X: Swerve rotate
• Right bumper: Deploy intake when held

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