The answer to all of the above might be "No". To simplify graphics processing and computation in general, do you have a low fidelity mode for each robot?ĭo you have a Graphics-only executable for displaying multiple robots and game pieces on a field?ĭo you have an executable that can create an image (an updating array of pixels) that approximates what a robot mounted camera would see? What about scenery that would surround a field? If you imagine a typical (weak) school computer, can that computer simulate one instance of one complex robot at real-world speeds? On that imaginary computer how often can the simulation update (in real world, wall clock time), and how much simulated (robot's imaginary world) time would each update represent?ĭo you have TCP/UDP interfaces for exporting the robot's externally visible and internal state, and for importing commands to control actuators? With luck I'll find some API code I was working on too.Ī few questions to create some context. I'll post some of that and/or exchange some emails with you guys. I'm not talking about the type of physics you see in video games either =p at least no fluid dynamics are required.Ī couple of weeks ago, I randomly found some of the plans we made for expanding the 5th Gear simulator. In the end it comes down to a very good physics engine to be of any practical use to us. That's a lot more complicated than just a few parameters. Also properly implementing the motor curve specs and weight(along with rest of phsyics engine) to be able to determine if a motor can even do the desired task it's being used for in the simulation. It's a very common problem to blow breakers under certain loads which the simulation would probably completely ignore. the PWM values you send are a force, a very non linear one at that, so the simulation would need a proper half decent physics engine to even just get that part right keeping in mind the current limitations. Also another big gripe is i imagine the simlation takes speeds of motors as inputs, but that's not the reality at all. I mean in a simulation maccanum and omni-wheel drive would never lose orientation but we all know what actually happens and it's these finer details which often are the real problem to deal with. So any half decent simulation should have varying degrees of offsets to better emulate actual performance of a robot. The inertia/strength of appendages and how it effects rest of robot/game pieces. such as each motor/system being inherently slightly different which often you need to tune out. My biggest gripe with any type of FRC simlator would be all the finer details which make real robots a major pain.
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