Simulation

CAD/2025/config.json

@@ -0,0 +1,20 @@
+{
+  "name": "2025 RA25",
+  "rotations": [
+    {
+      "axis": "x",
+      "degrees": 90.0
+    },
+    {
+      "axis": "y",
+      "degrees": 0.0
+    },
+    {
+      "axis": "z",
+      "degrees": 270.0
+    }
+  ],
+  "position": [0.0, 0.0, 0.0],
+  "cameras": [],
+  "components": []
+}

advantagescope-layout.json

@@ -0,0 +1,170 @@
+{
+  "hubs": [
+    {
+      "x": 3007,
+      "y": 157,
+      "width": 1607,
+      "height": 808,
+      "state": {
+        "sidebar": {
+          "width": 300,
+          "expanded": [
+            "/SmartDashboard/Field/OdometryPose",
+            "/SmartDashboard/Field/Robot",
+            "/SmartDashboard/Field/XModules",
+            "/SmartDashboard/swerve/advantagescope",
+            "/SmartDashboard/MapleSim",
+            "/AdvantageKit/RealOutputs/Sim/RobotPose",
+            "/SmartDashboard/swerve"
+          ]
+        },
+        "tabs": {
+          "selected": 3,
+          "tabs": [
+            {
+              "type": 0,
+              "title": "",
+              "controller": null,
+              "controllerUUID": "loy0vs5fjh42ly5j6azpwuon54lsm5nf",
+              "renderer": "",
+              "controlsHeight": 0
+            },
+            {
+              "type": 1,
+              "title": "Line Graph",
+              "controller": {
+                "leftSources": [],
+                "rightSources": [],
+                "discreteSources": [],
+                "leftLockedRange": null,
+                "rightLockedRange": null,
+                "leftUnitConversion": {
+                  "autoTarget": null,
+                  "preset": null
+                },
+                "rightUnitConversion": {
+                  "autoTarget": null,
+                  "preset": null
+                },
+                "leftFilter": 0,
+                "rightFilter": 0
+              },
+              "controllerUUID": "v8eqw2uqjo9n76steymeyw5g88i3biae",
+              "renderer": null,
+              "controlsHeight": 200
+            },
+            {
+              "type": 2,
+              "title": "2D Field",
+              "controller": {
+                "sources": [],
+                "field": "FRC:2026 Field",
+                "orientation": 0,
+                "size": "large"
+              },
+              "controllerUUID": "dox8w70if5g8tlnoza04ddj3f0dbyo0y",
+              "renderer": null,
+              "controlsHeight": 200
+            },
+            {
+              "type": 3,
+              "title": "3D Field",
+              "controller": {
+                "sources": [
+                  {
+                    "type": "robot",
+                    "logKey": "NT:/AdvantageKit/RealOutputs/Sim/RobotPose",
+                    "logType": "Pose2d",
+                    "visible": true,
+                    "options": {
+                      "model": "2026 KitBot"
+                    }
+                  },
+                  {
+                    "type": "gamePiece",
+                    "logKey": "NT:/AdvantageKit/RealOutputs/FieldSimulation/Fuel",
+                    "logType": "Pose3d[]",
+                    "visible": true,
+                    "options": {
+                      "variant": "Fuel"
+                    }
+                  }
+                ],
+                "game": "FRC:2026 Field"
+              },
+              "controllerUUID": "hqfgw1v7wxguag7mnwu6tr4abtw76zrj",
+              "renderer": {
+                "cameraIndex": -1,
+                "orbitFov": 50,
+                "cameraPosition": [
+                  3.1633543281769336,
+                  6.109330082975031,
+                  -6.816309206052037
+                ],
+                "cameraTarget": [
+                  0,
+                  0.5,
+                  0
+                ]
+              },
+              "controlsHeight": 200
+            },
+            {
+              "type": 9,
+              "title": "Swerve",
+              "controller": {
+                "sources": [
+                  {
+                    "type": "states",
+                    "logKey": "NT:/SmartDashboard/swerve/advantagescope/currentStates",
+                    "logType": "SwerveModuleState[]",
+                    "visible": true,
+                    "options": {
+                      "color": "#ff0000",
+                      "arrangement": "0,1,2,3"
+                    }
+                  },
+                  {
+                    "type": "states",
+                    "logKey": "NT:/SmartDashboard/swerve/advantagescope/desiredStates",
+                    "logType": "SwerveModuleState[]",
+                    "visible": true,
+                    "options": {
+                      "color": "#0000ff",
+                      "arrangement": "0,1,2,3"
+                    }
+                  },
+                  {
+                    "type": "chassisSpeeds",
+                    "logKey": "NT:/SmartDashboard/swerve/advantagescope/desiredChassisSpeeds",
+                    "logType": "ChassisSpeeds",
+                    "visible": true,
+                    "options": {
+                      "color": "#0000ff"
+                    }
+                  },
+                  {
+                    "type": "rotation",
+                    "logKey": "NT:/SmartDashboard/swerve/advantagescope/robotRotation",
+                    "logType": "Rotation2d",
+                    "visible": true,
+                    "options": {}
+                  }
+                ],
+                "maxSpeed": 5,
+                "sizeX": 0.65,
+                "sizeY": 0.65,
+                "orientation": 1
+              },
+              "controllerUUID": "dlzbn4u6wah7cpafohlmyohrj3a5rozt",
+              "renderer": null,
+              "controlsHeight": 200
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "satellites": [],
+  "version": "26.0.0"
+}

simgui-ds.json

@@ -88,5 +88,11 @@
       "buttonCount": 0,
       "povCount": 0
     }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
+    }
   ]
 }

src/main/deploy/swerve/modules/backleft.json

@@ -6,17 +6,17 @@
   "absoluteEncoderOffset": 44.205,
   "drive": {
     "type": "sparkmax_neo",
-    "id": 8,
+    "id": 7,
     "canbus": null
   },
   "angle": {
     "type": "sparkmax_neo",
-    "id": 7,
+    "id": 11,
     "canbus": null
   },
   "encoder": {
     "type": "thrifty",
-    "id": 2,
+    "id": 3,
     "canbus": null
   },
   "inverted": {

src/main/deploy/swerve/modules/backright.json

@@ -6,17 +6,17 @@
   "absoluteEncoderOffset": 295.091,
   "drive": {
     "type": "sparkmax_neo",
-    "id": 12,
+    "id": 8,
     "canbus": null
   },
   "angle": {
     "type": "sparkmax_neo",
-    "id": 11,
+    "id": 12,
     "canbus": null
   },
   "encoder": {
     "type": "thrifty",
-    "id": 3,
+    "id": 4,
     "canbus": null
   },
   "inverted": {

src/main/deploy/swerve/modules/frontleft.json

@@ -6,17 +6,17 @@
   "absoluteEncoderOffset": 6.450,
   "drive": {
     "type": "sparkmax_neo",
-    "id": 6,
+    "id": 5,
     "canbus": null
   },
   "angle": {
     "type": "sparkmax_neo",
-    "id": 5,
+    "id": 9,
     "canbus": null
   },
   "encoder": {
     "type": "thrifty",
-    "id": 0,
+    "id": 1,
     "canbus": null
   },
   "inverted": {

src/main/deploy/swerve/modules/frontright.json

@@ -6,17 +6,17 @@
   "absoluteEncoderOffset": 119.779,
   "drive": {
     "type": "sparkmax_neo",
-    "id": 10,
+    "id": 6,
     "canbus": null
   },
   "angle": {
     "type": "sparkmax_neo",
-    "id": 9,
+    "id": 10,
     "canbus": null
   },
   "encoder": {
     "type": "thrifty",
-    "id": 1,
+    "id": 2,
     "canbus": null
   },
   "inverted": {

src/main/java/frc/robot/Constants.java

@@ -1,12 +1,32 @@
 package frc.robot;
 
+import static edu.wpi.first.units.Units.Inches;
+
+import org.ironmaple.simulation.drivesims.COTS;
+import org.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig;
+
+import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
+import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.util.Units;
 
 public class Constants {
     public static class SwerveDriveConstants {
-        public static final SwerveDriveKinematics k_kinematics = new SwerveDriveKinematics(); //get this in when we know bot dims
+        private final static Translation2d m_frontLeftLocation = new Translation2d(0.381, 0.381);
+        private final static Translation2d m_frontRightLocation = new Translation2d(0.381, -0.381);
+        private final static Translation2d m_backLeftLocation = new Translation2d(-0.381, 0.381);
+        private final static Translation2d m_backRightLocation = new Translation2d(-0.381, -0.381);
+
+        public static final SwerveDriveKinematics k_kinematics = new SwerveDriveKinematics(
+            m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation
+        ); //get this in when we know bot dims
+
         public static final double k_maxSpeed = Units.feetToMeters(14.5); 
+
+        public static final double k_maxDriverSpeed = 1.0; // Meters per second
+        public static final double k_maxDriverBoostSpeed = 4.5;
+
+        public static final double k_boostScaler = k_maxDriverBoostSpeed / k_maxDriverSpeed;
     }
 
     public static class ControllerConstants{
@@ -35,4 +55,16 @@ public static class FieldConstants {
         public final static double k_width = Units.feetToMeters(26.0) + Units.inchesToMeters(5);
         public final static double k_length = Units.feetToMeters(57.0) + Units.inchesToMeters(6.0 + (7.0 / 8.0));
     }
+
+    public static class SimulationConstants{
+        public final static boolean k_isInSimulation = true;
+        public final static DriveTrainSimulationConfig k_config = DriveTrainSimulationConfig.Default()
+            .withGyro(COTS.ofPigeon2())
+            .withSwerveModule(COTS.ofMark4(
+                DCMotor.getKrakenX60(1), // Drive motor is a Kraken X60
+                DCMotor.getFalcon500(1), // Steer motor is a Falcon 500
+                COTS.WHEELS.COLSONS.cof, // Use the COF for Colson Wheels
+                3))
+            .withBumperSize(Inches.of(28.5), Inches.of(33.5));
+    }
 }