Implemented Sim, tested basic autos #16

worker-bob · 2025-11-01T19:25:31Z

Author - Your name

Description

What code was changed & why was it changed, any bugs it fixed

Checklist:

Mark with X's once you have tested

[ x] Follows the style guidelines of this project
[ x] Builds with no errors off robot
[x ] Main branch merged into this branch
[ x] Changes generate no new errors or warnings
Code deploys and runs as expected on robot
[x ] Commented code, especially in hard-to-understand areas

rift10

i think a lot of these values you can move to the constants file, maybe make a separate section in each constants file for sim constants
also, did you simulate it? i got an error after simulating (ports issue)

rift10 · 2025-11-03T21:37:27Z

src/main/java/frc/robot/subsystems/swerve/Swerve.java

-        // Logger.processInputs("Swerve/Gyro", gyroInputs);
-        // Logger.recordOutput("Swerve/Pose", getPose());
-        // Logger.recordOutput("Swerve/Field Pose/Best Pose with offset", getBestCoralAutoAlign());
-        // Logger.recordOutput(
-        //         "Swerve/Field Pose/Best Source", getBestSourceAutoAlign().getDegrees());
-        // Logger.recordOutput("Swerve/Field Pose/Robot Angle", getRotation().getDegrees());
-        // Logger.recordOutput(
-        //         "Swerve/Auto Align/Offset Transform", getBestReefTagNoOffset().minus(getPose()));
-


add these back

rift10 · 2025-11-05T02:20:31Z

src/main/java/frc/robot/constants/GlobalConstants.java

 public class GlobalConstants {

-    private static RobotType kRobotType = RobotType.BETA;
+    private static RobotType kRobotType = RobotType.SIMBOT;


change this back before merge

rift10 · 2025-11-05T02:20:44Z

src/main/java/frc/robot/subsystems/elevator/Elevator.java


    private ElevatorIO io;
-    private ElevatorIOInputsAutoLogged inputs = new ElevatorIOInputsAutoLogged();
+    public ElevatorIOInputsAutoLogged inputs = new ElevatorIOInputsAutoLogged();


why is this public now?

i think it would be better to make a getter

rift10 · 2025-11-05T02:31:45Z

src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java

            return;
        }
-        runVolts(controller.calculate(eSim.getPositionMeters(), Units.feetToMeters(eleHeight)));
+        runVolts(controller.calculate(eSim.getPositionMeters(), Units.feetToMeters(setpointMeters)));


why is this feet to meters if we're passing in meters

rift10 · 2025-11-05T02:32:03Z

src/main/java/frc/robot/subsystems/intake/pivot/IntakePivot.java


    private IntakePivotIO io;
-    private IntakePivotIOInputsAutoLogged inputs = new IntakePivotIOInputsAutoLogged();
+    public IntakePivotIOInputsAutoLogged inputs = new IntakePivotIOInputsAutoLogged();


again why public

rift10 · 2025-11-05T02:33:48Z

src/main/java/frc/robot/subsystems/intake/pivot/IntakePivotIOSim.java

-                180.0 // initial angle placeholder
-                );
+                DCMotor.getKrakenX60Foc(2),
+                310 / 3,


magic number

also if this is gearing shouldn't it match the constant?

For all these values, i already had pid vaules tuned to them so i didn't want to retune the sim with something i already knew works

i still think you should add this to the switch case in the constants file... and do this for all the subsystem sim files

rift10 · 2025-11-05T03:21:28Z

src/main/java/frc/robot/subsystems/intake/pivot/IntakePivotIOSim.java

+                DCMotor.getKrakenX60Foc(2),
+                310 / 3,
+                SingleJointedArmSim.estimateMOI(0.3, 10),
+                .3,


magic number

still lwk a magic number

rift10 · 2025-11-05T03:22:35Z

src/main/java/frc/robot/subsystems/outtake/wrist/Wrist.java


    private WristIO io;
-    private WristIOInputsAutoLogged inputs = new WristIOInputsAutoLogged();
+    public WristIOInputsAutoLogged inputs = new WristIOInputsAutoLogged();


rift10 · 2025-11-05T06:18:30Z

src/main/java/frc/robot/RobotContainer.java

-        driver.povUp(); // ! Unbound
-        driver.povDown(); // ! Unbound
-        driver.povLeft(); // ! Unbound
-        driver.povRight(); // ! Unbound
-


put these back

src/main/java/frc/robot/subsystems/intake/pivot/IntakePivotIOSim.java

rift10 · 2025-11-06T06:12:29Z

src/main/java/frc/robot/subsystems/beambreak/Beambreak.java

    }
+
+    public void initiateSimulatedSequence() {
+        ((BeambreakIOSim) io).initiateSequence();


interesting.... lol

rift10 · 2025-11-06T06:13:23Z

src/main/java/frc/robot/subsystems/beambreak/BeambreakIOSim.java

+    public void setIntake(boolean val) {
+        intakeTriggered = val;
+    }
+
+    public void setHandoff(boolean val) {
+        handoffTriggered = val;
+    }
+
+    public void setEnd(boolean val) {
+        endTriggered = val;
+    }


you dont wanna use @ setters?

rift10 · 2025-11-06T06:14:48Z

src/main/java/frc/robot/subsystems/intake/pivot/IntakePivotIOSim.java

-                180.0 // initial angle placeholder
-                );
+                DCMotor.getKrakenX60Foc(2),
+                310 / 3,


i still think you should add this to the switch case in the constants file... and do this for all the subsystem sim files

rift10 · 2025-11-06T06:15:01Z

src/main/java/frc/robot/subsystems/intake/pivot/IntakePivotIOSim.java

+                DCMotor.getKrakenX60Foc(2),
+                310 / 3,
+                SingleJointedArmSim.estimateMOI(0.3, 10),
+                .3,


still lwk a magic number

rift10 · 2025-11-06T06:21:59Z

src/main/java/frc/robot/subsystems/outtake/wrist/Wrist.java

+    private static final LoggedTunableNumber l1 = new LoggedTunableNumber("Wrist/Gains/l1", 0);
+    private static final LoggedTunableNumber l2 = new LoggedTunableNumber("Wrist/Gains/l2", 3);
+    private static final LoggedTunableNumber l3 = new LoggedTunableNumber("Wrist/Gains/l3", 2);
+    private static final LoggedTunableNumber l4 = new LoggedTunableNumber("Wrist/Gains/l4", 1);


while you're at it, there are still /gains/ in the path

rift10 · 2025-11-06T06:25:10Z

src/main/java/frc/robot/SimVisualizer.java

+    private static final double intakePivotOffsetX = Units.inchesToMeters(22.746);
+    private static final double intakePivotOffsetY = Units.inchesToMeters(9.577);
+
+    private static final double elevatorToGround = Units.inchesToMeters(5.36);
+    private static final double startingElevatorHeight = 0.9;
+    private static final double mechanismOffset = Units.inchesToMeters(1);


add k's in front

rift10 · 2025-11-06T06:28:27Z

src/main/java/frc/robot/subsystems/intake/pivot/IntakePivot.java

+    public void runPosition(double angle) {
+        io.runPosition(angle);
+    }


rift10 · 2025-11-06T06:28:50Z

src/main/java/frc/robot/subsystems/intake/pivot/IntakePivotConstants.java

            };

-    public static final double kBottomPosition =
+    public static final double kTolorance =


fyi this is spelled wrong

rift10 · 2025-11-06T06:32:41Z

src/main/java/frc/robot/subsystems/elevator/Elevator.java

    public void runPosition(ElevatorGoal goal) {
        currentGoal = goal;
-        io.runPosition(currentGoal.getEleHeight().getAsDouble());
+        // io.runPosition(currentGoal.getEleHeight().getAsDouble());
+    }
+
+    public void runPosition(double meters) {
+        io.runPosition(meters);
    }


rift10 · 2025-11-06T06:34:13Z

src/main/java/frc/robot/subsystems/elevator/Elevator.java

        return false;
    }

+    private final SysIdRoutine sysIdRoutine = new SysIdRoutine(


why is all this stuff here btw, could it possibly be moved?
also it doesn't seem to be used??

…o Sim

worker-bob added 5 commits October 29, 2025 20:05

Working sim(mb for long ahh commit)

cbeb416

better offsets using amazing onshape skills

60d23c9

gemini lowk better at ts

a2c42f5

Merge branch 'main' into Sim

e988087

tested autos and elevator in sim

076e84d

worker-bob requested review from Ammelll and rift10 November 1, 2025 19:25

worker-bob added 2 commits November 4, 2025 21:24

Merge branch 'main' into Sim

ebb56bd

tried testing some commands, added beambreak sim

f61d4b8

rift10 reviewed Nov 5, 2025

View reviewed changes

worker-bob added 2 commits November 5, 2025 13:53

pr changes, bug fixes

df42987

removed some code, added back bindings, added constants

fe7ae84

rift10 reviewed Nov 6, 2025

View reviewed changes

worker-bob added 3 commits November 6, 2025 13:07

Moved sim values into constants, fixed atGoal in wrist

12fcf32

renamed goals, added tunnable numbers for each of them

320c6ca

renamed goal var in the commands

0afaab6

rift10 previously approved these changes Nov 7, 2025

View reviewed changes

Merge branch 'main' of https://github.com/team5419/offseason-beta int…

07b587a

…o Sim

rift10 dismissed their stale review via 07b587a November 7, 2025 02:57

rift10 approved these changes Nov 7, 2025

View reviewed changes

rift10 merged commit 8979910 into main Nov 7, 2025
2 checks passed

rift10 deleted the Sim branch November 7, 2025 03:00

Implemented Sim, tested basic autos #16

Implemented Sim, tested basic autos #16

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worker-bob commented Nov 1, 2025

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