Package com.stuypulse.robot.util.simulation

Class Simulation

java.lang.Object

com.stuypulse.robot.util.simulation.Simulation

public class Simulation
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
final org.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt	arenaInstance
private final edu.wpi.first.networktables.StructArrayPublisher<edu.wpi.first.math.geometry.Pose3d>	fuel
private final edu.wpi.first.networktables.StructArrayPublisher<edu.wpi.first.math.geometry.Pose3d>	fuelLayers
private final edu.wpi.first.networktables.StructPublisher<edu.wpi.first.math.geometry.Pose3d>	hopper
private static final Simulation	instance
private final org.ironmaple.simulation.IntakeSimulation	intakeMSim
private final edu.wpi.first.networktables.StructPublisher<edu.wpi.first.math.geometry.Pose3d>	intakePivot
private final Intake	intakeSim
private final edu.wpi.first.networktables.StructPublisher<edu.wpi.first.math.geometry.Pose3d>	shooter
private final Shooter	shooterSim
private final edu.wpi.first.wpilibj.Notifier	shotLoop
private final org.ironmaple.simulation.drivesims.SwerveDriveSimulation	swerveMSim

Constructor Summary

Constructors

Modifier	Constructor	Description
private	Simulation()

Method Summary

Modifier and Type	Method	Description
private void	configureArena()
private org.ironmaple.simulation.IntakeSimulation	createIntakeSimulation()
static Simulation	getInstance()
private double	getIntakeArmEndX()
private edu.wpi.first.math.geometry.Pose3d	getIntakePivotPose()
private void	robotRelativeAddPieceWithVariance(edu.wpi.first.math.geometry.Translation2d piecePose, edu.wpi.first.math.geometry.Rotation2d yaw, edu.wpi.first.units.measure.Distance height, edu.wpi.first.units.measure.LinearVelocity speed, edu.wpi.first.units.measure.Angle pitch, double xVariance, double yVariance, double yawVariance, double speedVariance, double pitchVariance)	Extension of Arena2026Rebuilt.addPieceWithVariance(edu.wpi.first.math.geometry.Translation2d, edu.wpi.first.math.geometry.Rotation2d, edu.wpi.first.units.measure.Distance, edu.wpi.first.units.measure.LinearVelocity, edu.wpi.first.units.measure.Angle, double, double, double, double, double) that uses chassis speeds
private void	summonFuelAtIntake()
void	update()
private void	updateHopperFuel()
private void	updateIntake()
private void	updateIntakeEnabled(boolean enabled)
private void	updateShooting()

Methods inherited from class java.lang.Object

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

Field Details

instance

private static final Simulation instance

arenaInstance

public final org.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt arenaInstance

shotLoop

private final edu.wpi.first.wpilibj.Notifier shotLoop

swerveMSim

private final org.ironmaple.simulation.drivesims.SwerveDriveSimulation swerveMSim

intakeMSim

private final org.ironmaple.simulation.IntakeSimulation intakeMSim

intakeSim

private final Intake intakeSim

shooterSim

private final Shooter shooterSim

fuel

private final edu.wpi.first.networktables.StructArrayPublisher<edu.wpi.first.math.geometry.Pose3d> fuel

intakePivot

private final edu.wpi.first.networktables.StructPublisher<edu.wpi.first.math.geometry.Pose3d> intakePivot

hopper

private final edu.wpi.first.networktables.StructPublisher<edu.wpi.first.math.geometry.Pose3d> hopper

fuelLayers

private final edu.wpi.first.networktables.StructArrayPublisher<edu.wpi.first.math.geometry.Pose3d> fuelLayers

shooter

private final edu.wpi.first.networktables.StructPublisher<edu.wpi.first.math.geometry.Pose3d> shooter

Constructor Details

Simulation

private Simulation()

Method Details

getInstance

public static Simulation getInstance()

configureArena

private void configureArena()

createIntakeSimulation

private org.ironmaple.simulation.IntakeSimulation createIntakeSimulation()

getIntakePivotPose

private edu.wpi.first.math.geometry.Pose3d getIntakePivotPose()

getIntakeArmEndX

private double getIntakeArmEndX()

updateIntakeEnabled

private void updateIntakeEnabled(boolean enabled)

updateIntake

private void updateIntake()

updateHopperFuel

private void updateHopperFuel()

robotRelativeAddPieceWithVariance

private void robotRelativeAddPieceWithVariance(edu.wpi.first.math.geometry.Translation2d piecePose,
 edu.wpi.first.math.geometry.Rotation2d yaw,
 edu.wpi.first.units.measure.Distance height,
 edu.wpi.first.units.measure.LinearVelocity speed,
 edu.wpi.first.units.measure.Angle pitch,
 double xVariance,
 double yVariance,
 double yawVariance,
 double speedVariance,
 double pitchVariance)

Extension of Arena2026Rebuilt.addPieceWithVariance(edu.wpi.first.math.geometry.Translation2d, edu.wpi.first.math.geometry.Rotation2d, edu.wpi.first.units.measure.Distance, edu.wpi.first.units.measure.LinearVelocity, edu.wpi.first.units.measure.Angle, double, double, double, double, double) that uses chassis speeds

Adds a gamepiece too the arena with a certain random variance.

Parameters:

piecePose - the field relative position at which to spawn the gamepiece

yaw - the initial yaw of the gamepiece

height - the initial height of the gamepiece above the field

speed - the initial speed of the gamepiece

pitch - the initial pitch of the gamepiece

xVariance - the maximum random offset applied to the x coordinate

yVariance - the maximum random offset applied to the y coordinate

yawVariance - the maximum random offset applied to the yaw, in degrees

speedVariance - the maximum random offset applied to the speed, in m/s

pitchVariance - the maximum random offset applied to the pitch, in degrees

summonFuelAtIntake

private void summonFuelAtIntake()

updateShooting

private void updateShooting()

update

public void update()