Update FRCRobotTemplate with post-season changes #70
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Contributor
stephenjust
commented
Oct 18, 2025
stephenjust
commented
- Integrate MapleSim
- Handle breaking changes from SCL
- Update deps
* Integrate MapleSim * Handle breaking changes from SCL * Update deps
aschokking
approved these changes
Oct 18, 2025
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Is this an intelliJ thing?
| import edu.wpi.first.math.geometry.Pose2d; | ||
| import xbot.common.subsystems.pose.SimulatedPositionSupplier; | ||
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| public interface BaseSimulator extends SimulatedPositionSupplier { |
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Looking at it now, should we have called this ISimulator?
| import org.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig; | ||
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| @Singleton | ||
| public class MapleSimulator implements BaseSimulator { |
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⭐ if we're going to keep putting more stuff in here, should we just call this Simulator? Or BaseSwerveSimulator?
| private SwerveModulePosition[] getSwerveModulePositions() { | ||
| // if we have simulated data, return that directly instead of asking the | ||
| // modules | ||
| if (simulatedModulePositions.isPresent()) { |
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Do you have any better ideas for how to handle this interface? Felt icky hacking it into the code like this but was expedient.
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