add maplesim for drivetrain and fuel

[tytremblay]

Describe your changes

Adds maplesim, a physics-based simulation of the rebuild field and game piece.

• Drivetrain simulation is now collision checked against field elements
• Drivetrain can now slip its wheels, leading to odometry drift over time (in sim!)
• Simulated intake can intake fuel from the field
• Launcher will only launch fuel if we've collected it.
• Fuel scored in the goal triggers a callback

Recommended visualization topics:

Issue ticket number and link

PR Yes/No List

Note: Exceptions can be made by the Software Director or a Mentor.

1. Scope

• Does this change clearly correspond to one specific task or card?
• Are there no unrelated changes mixed into this PR?

2. Build & Deploy

• Does the code compile successfully?
• Does the code deploy successfully to the simulator or robot?
• If deployed to a robot: Does the robot start up normally with this code?

3. Safety & Enable Behavior

• If deployed to a robot: When enabled, does nothing move unexpectedly?
• No safety checks, limits, or interlocks are removed or bypassed?

4. Testing & Verification

• Has this change been tested in simulation, on the real robot, or both?
• Was the new or changed behavior actually exercised during testing?
• Did the robot behave the way it was intended to?

5. Behavior & Integration

• Does existing (unchanged) robot behavior still work as expected?
• Could this change conflict with other recent or active changes?

6. Code Quality & Maintainability

• Can another student reasonably read and understand this code?
• Are variable and method names clear and meaningful?
• Is temporary debug code, print spam, or commented-out code removed?
• Are new constants placed in a reasonable, consistent location?
• Would I be comfortable debugging this code at competition?

7. Readiness to Merge

• Has a mentor or the Software Director reviewed this, if required?
• If this code were merged right now, would I feel confident enabling the robot?

[Sid220]

should we change to our dimensions?

[Sid220]

note different gains than in ModuleIOSim

[Sid220]

intentional remove of maintainFuelPressureCommand?

[tytremblay]

yeah, if we're using otf, we should be continuously collecting and thus the intake needs to stay out

[Sid220]

Think it'll be easier to switch between sim and hardware and more clear if Odometry/Robot and FieldSimulation/RobotPosition are the same.

[tytremblay]

Think it'll be easier to switch between sim and hardware and more clear if Odometry/Robot and FieldSimulation/RobotPosition are the same.

Let's discuss this tonight. In the real world, the robot position would eventually diverge from the robot's odometry over time. We just correct that divergence with periodic updates from SLAMDunk.

We don't currently have a simulated SLAMDunk, so there's no correction in sim.

We could have both worlds, and pass a boolean that lets us choose between syncing the two poses and letting them diverge