Class SimScript

java.lang.Object
frc.robot.SimScript
public final class SimScript extends Object
A scripted drive for the desktop simulation, so the localization testbed can be exercised (and checked) without a driver: sit disabled so the Limelights seed the pose, then drive a lap of straights, strafes and spins in teleop while every pose source is logged.

Opt-in only: set the environment variable FM_SIM_SCRIPT before ./gradlew simulateJava. With it unset the sim behaves normally and takes a real Driver Station.

  • drive: the localization lap.
  • shoot: aiming and launching, standing and on the move, then each set shot from its spot, with fuel put in the hopper before each launch. For the aim feedforward, the shot gate, the set shots and the shot log.
  • chords: the pilot's LB + face-button chords pressed and let go in sloppy orders, standing still. For ModifierChords: read SuperStructure/WantedSuperState.
  • auto:<chooser name>: one PathPlanner auto.

With FM_SIM_EXIT=1 as well, the program closes the log and exits once the script is done, so a scripted run can be the whole of a command line. With FM_SIM_REBOOT=Hood@9,IntakeExtension@12, those mechanisms' motors reboot at those script seconds, as in a brownout. With FM_SIM_MATCH=Q12 (or P3, E5), the Driver Station reports that FMS match, so the end of teleop writes the match summary file.

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Class
    Description
    static final class 
    SimScript.Actions
    The script's two non-driver actions, as an AdvantageKit input so a replay of a scripted run performs them on the same loop (the driving itself is already replayed, through the logged Driver Station).

  • Method Summary

    Modifier and Type
    Method
    Description
    static void
    periodic()
    Advances the script.
    static boolean
    requested()
    Whether the script runs: requested in simulation, and always in replay.

    Methods inherited from class Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Method Details

    • requested

      public static boolean requested()
      Whether the script runs: requested in simulation, and always in replay.

    • periodic

      public static void periodic()
      Advances the script. Call from simulationPeriodic, in simulation (script requested) and in replay (so a replayed scripted run repeats the script's actions).