Add Maple-Sim #251
Add Maple-Sim #251
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I made this PR mainly for an easy feedback for the integration and comparison between current implementation and desired one. |
build.gradle
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| @@ -100,3 +100,7 @@ wpi.java.configureTestTasks(test) | |||
| tasks.withType(JavaCompile) { | |||
| options.compilerArgs.add '-XDstringConcat=inline' | |||
| } | |||
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| repositories { | |||
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This should be removed when you're done testing after you've released the latest version of maple sim that works with YAGSL
| @@ -31,6 +29,8 @@ | |||
| import java.util.Optional; | |||
| import java.util.concurrent.locks.Lock; | |||
| import java.util.concurrent.locks.ReentrantLock; | |||
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| import frc.robot.Robot; | |||
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User code should never be imported
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my problem, was trying to use TimedRobot.kDefaultPeriod
| @@ -366,7 +366,7 @@ public void setAnglePIDF(PIDFConfig config) | |||
| */ | |||
| public void setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop, boolean force) | |||
| { | |||
| desiredState = SwerveModuleState.optimize(desiredState, Rotation2d.fromDegrees(getAbsolutePosition())); | |||
| desiredState = SwerveModuleState.optimize(desiredState, getState().angle); | |||
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getState() is slower than getAbsolutePosition
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this is a little strange
so no doubt your code works on real robot
but in sim (since there are no absolute encoders), the getAbsolutePosition() always return 0, so the state optimization is jittering.
So I think it's better to have a if-else statement to let it use different functions during sim and real
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That makes total sense, the absolute encoder is fetch is wrapped in a Cache so you could make it reference the maplesim absolute encoder in the constructor instead of the real one.
| { | ||
| Rotation2d absolutePosition = simModule.getState().angle; | ||
| /* The Rotation2d.minus() function wraps the angle to the [0, 360) range. */ | ||
| return absolutePosition.minus(new Rotation2d()).getDegrees(); |
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This is an unnecessary memory allocation, i get the need for it but this should be handled in maple-sim or do algorithmic only.
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NP, I'll have the SwerveModuleSimulation return a wrapped Rotation2d
| return new SwerveModulePosition(fakePos, state.angle); | ||
| if (mapleSimModule.isPresent()) | ||
| { | ||
| return new SwerveModulePosition( |
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This should REALLY be embedded into maple-sim
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Yeah I know, it's stupid to keep checking if it present.
I'll figure out a smarter way to do this.
removed redundant optional sim modules moved swerve state angle wrap into module simulation
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the issues mentioned in the code review is fixed here |
This reverts commit 7e3ca88.
maple-sim is thread safe now, so we're free to push the simulation rate up for a smoother simulation
and it's all ready!
simgui-ds.json
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| @@ -98,7 +98,7 @@ | |||
| ], | |||
| "robotJoysticks": [ | |||
| { | |||
| "guid": "Keyboard0" | |||
| "guid": "030000004c050000e60c000000000000" | |||
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Please revert this
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My bad, I was using a joystick instead of the keyboard to test.
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