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Adrianamm
marked this pull request as ready for review
September 17, 2026 04:02
roboteer5291
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Sep 17, 2026
| Luckily, your computer can also run robot code allowing it to be tested without a robot. | ||
| While there are some things that can be tested by simulating pure robot code, there are no physical motors to move and respond with new positions. | ||
| Instead we use simulation classes that use physics to take the desired input voltage to the motors and estimate how the physical mechanism would respond and update our motor controller instances to match. | ||
| Instead, we use simulation classes that use physics to take the desired input voltage to the motors and estimate how the physical mechanism would respond. |
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| Instead, we use simulation classes that use physics to take the desired input voltage to the motors and estimate how the physical mechanism would respond. | |
| Instead, we use simulation classes that use physics to take the desired input voltage to the motors and model how the physical mechanism would respond. |
| The first important window is the Sim GUI. | ||
| The Sim GUI is automatically opened when simulating code and acts as both a Driver Station and shows information about simulated devices such as position and velocity. | ||
| The Sim GUI is automatically opened when simulating code. | ||
| It acts as both a Driver Station and shows information about simulated devices such as position and velocity. |
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| It acts as both a Driver Station and shows information about simulated devices such as position and velocity. | |
| It acts as a Driver Station and shows information about simulated devices such as position and velocity. |
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| When creating a motor controller object, the physical motor controller's CAN ID and the CAN Bus ID are given. | ||
| When creating a motor controller object, the physical motor controller's CAN ID and the CAN Bus IDs are given to the program in the constructor. |
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| When creating a motor controller object, the physical motor controller's CAN ID and the CAN Bus IDs are given to the program in the constructor. | |
| When creating a motor controller object, the physical motor controller's CAN ID and the CAN Bus must be provided in the constructor. |
| This will cause the motors to spin in a direction that would drive the robot forward when a positive input is given. | ||
| Since the motors on the right side of the drivetrain are facing the opposite direction they would cause the wheels try and drive the robot backwards when given a positive input if they were configured the same way. | ||
| Instead they should be configured with an invert setting of `false` or `CounterClockwise_Positive` so they also drive the robot forward when given a positive input. | ||
| Since the motors on the right side of the drivetrain are facing the opposite direction they would cause the wheels to try and drive the robot backwards when given a positive input if they were configured the same way. |
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| Since the motors on the right side of the drivetrain are facing the opposite direction they would cause the wheels to try and drive the robot backwards when given a positive input if they were configured the same way. | |
| Since the motors on the right side of the drivetrain are facing the opposite direction, they would cause the wheels to try and drive the robot backwards when given a positive input if they were configured the same way. |
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| To control the robot with joysticks a Teleop OpMode needs to be created that periodically gives the `DifferentialDrive` instance new values from the controller. | ||
| First an instance of `XboxController` needs to be created. | ||
| In `MyTeleop.java`, an instance of XboxController needs to be created. |
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| In `MyTeleop.java`, an instance of XboxController needs to be created. | |
| In `MyTeleop.java`, an instance of `XboxController` needs to be created. |
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Followed 1a and made adjustments
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