completed project readme

README.md

@@ -1,57 +1,47 @@
-# The 🍁 Swerve Skeleton
+# 🍁 Swerve Skeleton
 
 ---
 
-[Iron Maple](https://www.thebluealliance.com/team/5516/2024)’s Swerve Drive Skeleton Project
+6328 ([TBA](https://www.thebluealliance.com/team/6328/2024) | [Github](https://github.com/mechanical-advantage) | [Website](http://team6328.org/))'s [Advanced Swerve Drive Project](https://www.chiefdelphi.com/t/advantagekit-2024-log-replay-again/442968/54#advanced-swerve-drive-project-2) with enhanced physics simulation.
 
-Completely Simulated Swerve-Bot, with [250HZ Odometry](https://pro.docs.ctr-electronics.com/en/stable/docs/application-notes/update-frequency-impact.html), [6328's Log-Replay Technology](https://www.youtube.com/watch?v=BrzPw6ngx4o&t=1517s) and Vision
-
-> 🙏 We extend our deepest appreciation to [Littleton Robotics](https://www.littletonrobotics.org/) for their [open source projects](https://github.com/Mechanical-Advantage), which have made this project possible.
+> 🙏 We extend our deepest appreciation to [Team 6328](https://www.littletonrobotics.org/) for their [open source project](https://github.com/Mechanical-Advantage), which have made this project possible.
 >
-> ⚖️ This project is based on the [Advanced Swerve Drive Example](https://github.com/Mechanical-Advantage/AdvantageKit/tree/main/example_projects/advanced_swerve_drive/src/main) from [AdvantageKit](https://github.com/Mechanical-Advantage/AdvantageKit/), which is under the [GPLv3](https://www.gnu.org/licenses/gpl-3.0.en.html#license-text) license. All teams are welcome to use this project, provided that you adhere to the [Advantage Kit License](./AdvantageKit-License.md).
-
-## 👭Digital-Twin
-
-A complete-real simulation, with physics engine, score-count, human-players and opponent robots.
-
-- **Uses Actual Robot Code** in the simulator. This means that you can tune Auto-Stages, PIDs, Auto-Scoring functions and more.  The simulator display robots through https://github.com/Mechanical-Advantage/AdvantageScope.
-- **Swerve-Drive Physics Simulation**, fine-tuned with experimental data measured in our training field, as well as real-life data gathered from real competitions this year.
-
-  ![physics simulation 2.gif](./media/physics_simulation_2.gif)
-
-- **2D Rigid-Body Collision Simulation** for game-pieces and robots on field.  Using open source 2d physics engine https://github.com/dyn4j/dyn4j.
-
-  ![robot physics simulation.gif](./media/robot_physics_simulation.gif)
-
-- **Opponent Robots Simulation** that can either be controlled by a gamepad to play defense or follow pre-stored cycle paths.
-
-  ![Untitled video - Made with Clipchamp.gif](./media/Untitled_video_-_Made_with_Clipchamp.gif)
-- **Odometry Simulation**, which behaves like a real odometry: when you hit the wall, it skids and the IMU drifts.  [Video](https://youtu.be/ersRWIzC0zc) 
-- ![Odometry Sim](./media/OdometrySim.gif)
-- **Vision Simulation** with [PhotonLib](https://docs.photonvision.org/en/latest/docs/simulation/simulation.html), [code](https://github.com/Shenzhen-Robotics-Alliance/Maple-Swerve-Skeleton/blob/dev/src/main/java/frc/robot/subsystems/vision/VisionIOSim.java).
+> ⚖️ This project is based on an example from [AdvantageKit](https://github.com/Mechanical-Advantage/AdvantageKit/), which is under the [GPLv3](https://www.gnu.org/licenses/gpl-3.0.en.html#license-text) license. All teams are welcome to use it, provided that you adhere to the [Advantage Kit License](./AdvantageKit-License.md).
 
-## 🕹️Driving
+## Simulation Details
 
-- **250HZ Odometer**, Custom [Odometry Thread](https://github.com/Shenzhen-Robotics-Alliance/Maple-Swerve-Skeleton/blob/main/src/main/java/frc/robot/subsystems/drive/OdometryThreadReal.java)
-- **A Star Auto-Alignment** [Code](https://github.com/Shenzhen-Robotics-Alliance/Maple-Swerve-Skeleton/blob/main/src/main/java/frc/robot/commands/drive/AutoAlignment.java), [Video](https://www.youtube.com/watch?v=HjQfurIPfgw)
-- **Skid Detection** inspired by [1690 online software session](https://youtu.be/N6ogT5DjGOk?feature=shared&t=1674)
-- **Acceleration Constraining** during TeleOp, [code](https://github.com/Shenzhen-Robotics-Alliance/Maple-Swerve-Skeleton/blob/main/src/main/java/frc/robot/commands/drive/JoystickDrive.java).
-- **Robot Configuration Storage** in JSON files, [code](https://github.com/Shenzhen-Robotics-Alliance/Maple-Swerve-Skeleton/blob/main/src/main/java/frc/robot/utils/Config/MapleConfigFile.java), [example configs](https://github.com/Shenzhen-Robotics-Alliance/Maple-Swerve-Skeleton/tree/main/src/main/deploy/configs/ChassisWheelsCalibration).
-- **Robot Status Visualization** through [Elastic Dashboard](https://github.com/Gold872/elastic-dashboard), [AdvantageScope](https://github.com/Mechanical-Advantage/AdvantageScope), LED and [Network Alerts](https://github.com/Mechanical-Advantage/NetworkAlerts)
+A complete-real simulation with [dyn4j physics engine](https://github.com/dyn4j/dyn4j)
 
-## 🖥️ Dashboard
-![Screenshot 2024-06-17 005557.png](./media/Screenshot_2024-06-17_005557.png)
+### Swerve-Drive Physics Simulation, 
+Fine-tuned with data measured in our training field, the swerve drive simulation provides an incredibly realistic drivetrain characteristics.
+It simulates the behavior of each individual swerve module using [WPILib DCMotorSim](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.html) and use the data from 4 modules together to simulate the force on the drivetrain. 
+[[Source Code](https://github.com/Shenzhen-Robotics-Alliance/Maple-Swerve-Skeleton/blob/main/src/main/java/frc/robot/utils/CompetitionFieldUtils/Simulations/SwerveDriveSimulation.java)]
+![swervedrivesim.gif](media/swervedrivesim.gif)
 
-## 🤖Auto
+### Game Pieces and Intake Simulation
+In our simulation, game pieces on the field has collision spaces and can interact with the robot.
+It also allows teams to simulate a fixed intake module on the robot that grabs a game pieces whenever in-contact.
+[[Source Code](https://github.com/Shenzhen-Robotics-Alliance/Maple-Swerve-Skeleton/blob/main/src/main/java/frc/robot/utils/CompetitionFieldUtils/Simulations/IntakeSimulation.java) | [Example Code](https://github.com/Shenzhen-Robotics-Alliance/5516-2024-OffSeason/blob/main/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java)]
+![intakesim.gif](media/intakesim.gif)
 
-- **Decisive Autonomous Framework** 
-- **Path-Planning**, [PathPlanner](https://github.com/mjansen4857/pathplanner) and [Choreo](https://github.com/SleipnirGroup/Choreo) both supported. With Custom Follow-Path-Command.
+### Opponent Robots Simulation
+Simulated robots that can either be controlled by a gamepad to play defense or follow pre-stored cycle paths.
+Just as real robots, opponent robots have collision spaces.
+This allows drivers to practice defense/offense.
+[[Source Code](https://github.com/Shenzhen-Robotics-Alliance/Maple-Swerve-Skeleton/blob/main/src/main/java/frc/robot/utils/CompetitionFieldUtils/Simulations/OpponentRobotSimulation.java)]
+![opponentrobotsim.gif](media/opponentrobotsim.gif)
 
-## 📝Logging
+### Odometry Simulation
 
-Built Upon [AdvantageKit](https://github.com/Mechanical-Advantage/AdvantageKit), all sensor inputs are logged and recorded for after-match analysis.
+Odometry Simulation with realistic characteristics such as skidding and the IMU drifts.  
+[[Source Code](https://github.com/Shenzhen-Robotics-Alliance/Maple-Swerve-Skeleton/blob/main/src/main/java/frc/robot/subsystems/drive/IO/ModuleIOSim.java) | [Video](https://youtu.be/ersRWIzC0zc)]
+- ![Odometry Sim](./media/odometrysim.gif)
+### Vision Simulation with
+Built Upon [PhotonLib Camera Sim](https://docs.photonvision.org/en/latest/docs/simulation/simulation.html), our vision simulation behaves exactly the same as a real vision system
+The system uses April Tags to position the robot on field, and teams can tune the system without a field
+![visionsim1.gif](media/visionsim1.gif)
+We also Provide a convenient feature that generates [Advantage Scope Fix Camera Config](https://github.com/Shenzhen-Robotics-Alliance/Maple-Swerve-Skeleton/blob/main/src/main/java/frc/robot/utils/CustomConfigs/PhotonCameraProperties.java) automatically, which allows you to see the camera's view in advantage scope with easy steps to set up, [Source Code](https://github.com/Shenzhen-Robotics-Alliance/Maple-Swerve-Skeleton/blob/main/src/main/java/frc/robot/utils/CustomConfigs/PhotonCameraProperties.java)
+![visionsim2.gif](media/visionsim2.gif)
 
-## 👁️Vision
+## Getting Started
 
-- **April-tag Robot Localization** With [Photon Vision](https://photonvision.org/), Also works in [Simulation](https://github.com/Shenzhen-Robotics-Alliance/Maple-Swerve-Skeleton/blob/dev/src/main/java/frc/robot/subsystems/vision/VisionIOSim.java)
-- **360° Game-Piece Detection** running on Jetson-Orin-Nano coprocessor. [GitHub - FRC-Phantom-Vision: machine-learning-based object-detection tool for FRC](https://github.com/Shenzhen-Robotics-Alliance/FRC-Phantom-Vision)