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Fix Stage 1A solutions #172

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0b13ef2
Initial Commit
Daniel1464 Aug 2, 2026
79150c7
Merge branch 'main' into fix1ASolutions
Adrianamm Aug 3, 2026
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236 changes: 121 additions & 115 deletions examples/stage1/stage1a/solutions/ctre/AdvantageScopeLayout.json
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,120 +1,126 @@
{
"hubs": [
{
"x": 328,
"y": 194,
"width": 1101,
"height": 652,
"state": {
"sidebar": {
"width": 300,
"expanded": ["/DrivetrainSim"]
"hubs": [
{
"x": 328,
"y": 194,
"width": 1101,
"height": 652,
"state": {
"sidebar": {
"width": 300,
"expanded": [
"/DrivetrainSim",
"/IntakeLauncher",
"/Feeder",
"/Drivetrain"
]
},
"tabs": {
"selected": 2,
"tabs": [
{
"type": 0,
"title": "",
"controller": null,
"controllerUUID": "vlfwq7pm9tlj70qdvvq45nifwex34k2g",
"renderer": "",
"controlsHeight": 0
},
{
"type": 1,
"title": "",
"controller": {
"leftSources": [
{
"type": "stepped",
"logKey": "NT:/IntakeLauncher/MotorVoltage",
"logType": "Number",
"visible": true,
"options": {
"color": "#2b66a2",
"size": "normal"
}
},
{
"type": "stepped",
"logKey": "NT:/Feeder/MotorVoltage",
"logType": "Number",
"visible": true,
"options": {
"color": "#e5b31b",
"size": "normal"
}
}
],
"rightSources": [
{
"type": "stepped",
"logKey": "NT:/IntakeLauncher/MotorVelocity",
"logType": "Number",
"visible": true,
"options": {
"color": "#af2437",
"size": "normal"
}
},
{
"type": "stepped",
"logKey": "NT:/Feeder/MotorVelocity",
"logType": "Number",
"visible": true,
"options": {
"color": "#80588e",
"size": "normal"
}
}
],
"discreteSources": [],
"leftLockedRange": null,
"rightLockedRange": null,
"leftUnitConversion": {
"autoTarget": null,
"preset": null
},
"tabs": {
"selected": 1,
"tabs": [
{
"type": 0,
"title": "",
"controller": null,
"controllerUUID": "vlfwq7pm9tlj70qdvvq45nifwex34k2g",
"renderer": "",
"controlsHeight": 0
},
{
"type": 1,
"title": "Line Graph",
"controller": {
"leftSources": [
{
"type": "stepped",
"logKey": "NT:/intake/MotorVoltage",
"logType": "Number",
"visible": true,
"options": {
"color": "#2b66a2",
"size": "normal"
}
},
{
"type": "stepped",
"logKey": "NT:/shooter/MotorVoltage",
"logType": "Number",
"visible": true,
"options": {
"color": "#e5b31b",
"size": "normal"
}
}
],
"rightSources": [
{
"type": "stepped",
"logKey": "NT:/intake/MotorVelocity",
"logType": "Number",
"visible": true,
"options": {
"color": "#af2437",
"size": "normal"
}
},
{
"type": "stepped",
"logKey": "NT:/shooter/MotorVelocity",
"logType": "Number",
"visible": true,
"options": {
"color": "#80588e",
"size": "normal"
}
}
],
"discreteSources": [],
"leftLockedRange": null,
"rightLockedRange": null,
"leftUnitConversion": {
"autoTarget": null,
"preset": null
},
"rightUnitConversion": {
"autoTarget": null,
"preset": null
},
"leftFilter": 0,
"rightFilter": 0
},
"controllerUUID": "2htqlla9hnswdie42z4tmy5c6xlm59sh",
"renderer": null,
"controlsHeight": 200
},
{
"type": 2,
"title": "2D Field",
"controller": {
"sources": [
{
"type": "robot",
"logKey": "NT:SimPose",
"logType": "Pose2d",
"visible": true,
"options": {
"bumpers": ""
}
}
],
"field": "FRC:2026 Field",
"orientation": 3,
"size": "large"
},
"controllerUUID": "9ukgi1echibr7o0wodpgms6ajn3yic95",
"renderer": null,
"controlsHeight": 200
}
]
}
"rightUnitConversion": {
"autoTarget": null,
"preset": null
},
"leftFilter": 0,
"rightFilter": 0,
"showRobotMode": false
},
"controllerUUID": "2htqlla9hnswdie42z4tmy5c6xlm59sh",
"renderer": null,
"controlsHeight": 200
},
{
"type": 2,
"title": "",
"controller": {
"sources": [
{
"type": "robot",
"logKey": "NT:/Drivetrain/Pose",
"logType": "Pose2d",
"visible": true,
"options": {
"bumpers": ""
}
}
],
"field": "FRC:2026 Field",
"orientation": 3,
"size": "large"
},
"controllerUUID": "9ukgi1echibr7o0wodpgms6ajn3yic95",
"renderer": null,
"controlsHeight": 200
}
]
}
],
"satellites": [],
"version": "27.0.0-alpha-4"
}
}
],
"satellites": [],
"version": "27.0.0-alpha-5"
}
4 changes: 2 additions & 2 deletions examples/stage1/stage1a/solutions/ctre/src/main/java/first/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -45,8 +45,8 @@ public class Robot extends OpModeRobot {

private DrivetrainSim drivetrainSim = new DrivetrainSim(leftLeader, rightLeader);
private SingleFlywheelSim intakeLauncherSim =
new SingleFlywheelSim(intakeLauncher, "intakeLauncher");
private SingleFlywheelSim feederSim = new SingleFlywheelSim(feeder, "feeder");
new SingleFlywheelSim(intakeLauncher, "IntakeLauncher");
private SingleFlywheelSim feederSim = new SingleFlywheelSim(feeder, "Feeder");

/**
* This function is run when the robot is first started up and should be used for any
Expand Down
34 changes: 16 additions & 18 deletions ...les/stage1/stage1a/solutions/ctre/src/main/java/first/robot/simulation/DrivetrainSim.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,6 @@ public class DrivetrainSim {
private final double kGearRatio = 10.71;
private final double kWheelRadiusMeters = Inches.of(3.0).in(Meters);
private final double linearToMotorRatio = (1.0 / kWheelRadiusMeters) * kGearRatio;
private static final double kBusVoltage = 12.0;

private final DifferentialDrivetrainSim driveSim =
new DifferentialDrivetrainSim(
Expand All @@ -46,49 +45,51 @@ public class DrivetrainSim {
Inches.of(21.5).in(Meters), // Distance between the left and right wheels
null);

// we add front slashes here so that the keys show up consistently between the CTRE and REV
// examples.
private final StructPublisher<Pose2d> simPosePublisher =
NetworkTableInstance.getDefault().getStructTopic("Drivetrain/Pose", Pose2d.struct).publish();
NetworkTableInstance.getDefault().getStructTopic("/Drivetrain/Pose", Pose2d.struct).publish();

private final DoublePublisher leftPositionPub =
NetworkTableInstance.getDefault().getDoubleTopic("Drivetrain/LeftPositionMeters").publish();
NetworkTableInstance.getDefault().getDoubleTopic("/Drivetrain/LeftPositionMeters").publish();

private final DoublePublisher rightPositionPub =
NetworkTableInstance.getDefault().getDoubleTopic("Drivetrain/RightPositionMeters").publish();
NetworkTableInstance.getDefault().getDoubleTopic("/Drivetrain/RightPositionMeters").publish();

private final DoublePublisher leftVelocityPub =
NetworkTableInstance.getDefault().getDoubleTopic("Drivetrain/LeftVelocityMPS").publish();
NetworkTableInstance.getDefault().getDoubleTopic("/Drivetrain/LeftVelocityMPS").publish();

private final DoublePublisher rightVelocityPub =
NetworkTableInstance.getDefault().getDoubleTopic("Drivetrain/RightVelocityMPS").publish();
NetworkTableInstance.getDefault().getDoubleTopic("/Drivetrain/RightVelocityMPS").publish();

private final DoublePublisher leftMotorVelocityPub =
NetworkTableInstance.getDefault()
.getDoubleTopic("Drivetrain/LeftMotor/MotorVelocityRPS")
.getDoubleTopic("/Drivetrain/LeftMotor/MotorVelocityRPS")
.publish();

private final DoublePublisher rightMotorVelocityPub =
NetworkTableInstance.getDefault()
.getDoubleTopic("Drivetrain/RightMotor/MotorVelocityRPS")
.getDoubleTopic("/Drivetrain/RightMotor/MotorVelocityRPS")
.publish();

private final DoublePublisher leftMotorVoltagePub =
NetworkTableInstance.getDefault()
.getDoubleTopic("Drivetrain/LeftMotor/MotorVoltage")
.getDoubleTopic("/Drivetrain/LeftMotor/MotorVoltage")
.publish();

private final DoublePublisher rightMotorVoltagePub =
NetworkTableInstance.getDefault()
.getDoubleTopic("Drivetrain/RightMotor/MotorVoltage")
.getDoubleTopic("/Drivetrain/RightMotor/MotorVoltage")
.publish();

private final DoublePublisher leftMotorSupplyCurrentPub =
NetworkTableInstance.getDefault()
.getDoubleTopic("Drivetrain/LeftMotor/MotorSupplyCurrent")
.getDoubleTopic("/Drivetrain/LeftMotor/MotorSupplyCurrent")
.publish();

private final DoublePublisher rightMotorSupplyCurrentPub =
NetworkTableInstance.getDefault()
.getDoubleTopic("Drivetrain/RightMotor/MotorSupplyCurrent")
.getDoubleTopic("/Drivetrain/RightMotor/MotorSupplyCurrent")
.publish();

/**
Expand All @@ -97,19 +98,16 @@ public class DrivetrainSim {
*/
public DrivetrainSim(TalonFX leftTalon, TalonFX rightTalon) {
this.leftTalon = leftTalon;
leftTalonSim = new TalonFXSimState(leftTalon, ChassisReference.CounterClockwise_Positive);
leftTalonSim = new TalonFXSimState(leftTalon, ChassisReference.Clockwise_Positive);
leftTalonSim.setMotorType(MotorType.KrakenX60);

this.rightTalon = rightTalon;
rightTalonSim = new TalonFXSimState(rightTalon, ChassisReference.Clockwise_Positive);
rightTalonSim = new TalonFXSimState(rightTalon, ChassisReference.CounterClockwise_Positive);
rightTalonSim.setMotorType(MotorType.KrakenX60);
}

public void periodic() {
double leftMotorVoltage = leftTalon.getThrottle() * kBusVoltage;
double rightMotorVoltage = rightTalon.getThrottle() * kBusVoltage;

driveSim.setInputs(leftMotorVoltage, rightMotorVoltage);
driveSim.setInputs(leftTalonSim.getMotorVoltage(), rightTalonSim.getMotorVoltage());
driveSim.update(0.02);

OnboardIMUSim.setYaw(driveSim.getHeading().getRadians());
Expand Down
10 changes: 6 additions & 4 deletions ...stage1/stage1a/solutions/ctre/src/main/java/first/robot/simulation/SingleFlywheelSim.java
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Original file line number Diff line number Diff line change
Expand Up @@ -48,12 +48,14 @@ public SingleFlywheelSim(TalonFX talonMotor, String name) {
motorVelocityPub = table.getDoubleTopic("MotorVelocity").publish();
motorCurrentPub = table.getDoubleTopic("MotorStatorCurrent").publish();
motorPositionPub = table.getDoubleTopic("MotorPosition").publish();

// Voltage and current properties aren't included since they default to volts and amps already
motorVelocityPub.getTopic().setProperty("unit", "\"RotationsPerSecond\"");
motorPositionPub.getTopic().setProperty("unit", "\"Rotations\"");
}

public void periodic() {
double motorVoltage = talonMotor.getThrottle() * kBusVoltage;

flywheelSim.setInputVoltage(motorVoltage);
flywheelSim.setInputVoltage(talonMotorSim.getMotorVoltage());
flywheelSim.update(0.02);

double motorVelo = flywheelSim.getAngularVelocity() * gearRatio;
Expand All @@ -63,7 +65,7 @@ public void periodic() {
talonMotorSim.setRawRotorPosition(Radians.of(motorPosition));
talonMotorSim.setRotorVelocity(RadiansPerSecond.of(motorVelo));

motorVoltagePub.set(motorVoltage);
motorVoltagePub.set(talonMotor.getMotorVoltage().getValueAsDouble());
motorVelocityPub.set(talonMotor.getVelocity().getValueAsDouble());
motorCurrentPub.set(talonMotor.getStatorCurrent().getValueAsDouble());
motorPositionPub.set(talonMotor.getPosition().getValueAsDouble());
Expand Down
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