migrated simulation dependencies to Gradle file

Shenzhen-Robotics-Alliance · Sep 18, 2024 · 0b8d91f · 0b8d91f
1 parent 1b8c93e
commit 0b8d91f
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Showing 5 changed files with 28 additions and 10 deletions.
diff --git a/example/5516-2024-OffSeason/build.gradle b/example/5516-2024-OffSeason/build.gradle
@@ -86,10 +86,6 @@ dependencies {
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 
-    // for 2d Physics Simulation
-    implementation group: 'junit', name: 'junit', version: '4.13.1'
-    implementation group: 'org.dyn4j', name: 'dyn4j', version: '5.0.2'
-
     roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
     roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
 

diff --git a/example/5516-2024-OffSeason/src/main/java/frc/robot/constants/DriveTrainConstants.java b/example/5516-2024-OffSeason/src/main/java/frc/robot/constants/DriveTrainConstants.java
@@ -16,7 +16,7 @@ public class DriveTrainConstants {
      *  */
     public static final double
             WHEEL_COEFFICIENT_OF_FRICTION = 1.05, // yeah, I know this is against the law of physics, but it feels realistic
-            ROBOT_MASS_KG = 37.35; // with bumpers
+            ROBOT_MASS_KG = 32; // with bumpers
 
     private static final DCMotor KRAKEN_X60 = new DCMotor(
             12, 7.09, 366, 2, Units.rotationsPerMinuteToRadiansPerSecond(4800), 1);

diff --git a/example/5516-2024-OffSeason/src/main/java/frc/robot/subsystems/drive/IO/ModuleIOSim.java b/example/5516-2024-OffSeason/src/main/java/frc/robot/subsystems/drive/IO/ModuleIOSim.java
@@ -85,7 +85,7 @@ public double getSimulationTorque() {
         driveAppliedVolts = driveDesiredVolts;
         if (Math.abs(currentAtDesiredVolts) >  1.5 * DRIVE_CURRENT_LIMIT
                 && driveDesiredVolts * physicsSimulationResults.driveWheelFinalVelocityRadPerSec > 0) {
-            final double limitedCurrent = Math.copySign(DRIVE_CURRENT_LIMIT, currentAtDesiredVolts);
+            final double limitedCurrent = Math.copySign(DRIVE_CURRENT_LIMIT * 1.2, currentAtDesiredVolts);
             driveAppliedVolts = DRIVE_MOTOR.getVoltage(
                     DRIVE_MOTOR.getTorque(limitedCurrent),
                     driveMotorRotterSpeedRadPerSec

diff --git a/.../main/java/frc/robot/utils/CompetitionFieldUtils/Simulations/OpponentRobotSimulation.java b/.../main/java/frc/robot/utils/CompetitionFieldUtils/Simulations/OpponentRobotSimulation.java
@@ -11,6 +11,7 @@
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.*;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.commands.drive.OpponentRobotFollowPath;
 import frc.robot.constants.DriveTrainConstants;
 import frc.robot.constants.FieldConstants;
@@ -183,9 +184,7 @@ public void teleOpInit() {
 
     @Override
     public String getTypeName() {
-        final boolean isOpponent = robotID < 3,
-            isRed = DriverStation.getAlliance().orElse(DriverStation.Alliance.Blue).equals(DriverStation.Alliance.Red)
-                    != isOpponent;
-        return "Robot" + (isRed ? "Red" : "Blue");
+        final boolean isOpponent = robotID < 3;
+        return (isOpponent ? "Opponent" : "AlliancePartner") + "Robot";
     }
 }
diff --git a/example/5516-2024-OffSeason/vendordeps/MapleSim.json b/example/5516-2024-OffSeason/vendordeps/MapleSim.json
@@ -0,0 +1,23 @@
+{
+  "fileName": "MapleSim.json",
+  "name": "MapleSim",
+  "version": "0.0.1",
+  "uuid": "123e4567-e89b-12d3-a456-426614174000",
+  "frcYear": "2024",
+  "mavenUrls": [],
+  "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
+  "javaDependencies": [
+    {
+      "groupId": "junit",
+      "artifactId": "junit",
+      "version": "4.13.1"
+    },
+    {
+      "groupId": "org.dyn4j",
+      "artifactId": "dyn4j",
+      "version": "5.0.2"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": []
+}