Added romi support to simulate drivetrain on romi robots.

build.gradle

@@ -43,7 +43,7 @@ def deployArtifact = deploy.targets.roborio.artifacts.frcJava
 wpi.java.debugJni = false
 
 // Set this to true to enable desktop support.
-def includeDesktopSupport = false
+def includeDesktopSupport = true;
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
@@ -79,6 +79,11 @@ test {
 wpi.sim.addGui().defaultEnabled = true
 wpi.sim.addDriverstation()
 
+//Sets the websocket client remote host.
+wpi.sim.envVar("HALSIMWS_HOST", "10.0.0.2")
+wpi.sim.addWebsocketsServer().defaultEnabled = true
+wpi.sim.addWebsocketsClient().defaultEnabled = true
+
 // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
 // in order to make them all available at runtime. Also adding the manifest so WPILib
 // knows where to look for our Robot Class.

src/main/java/frc/robot/subsystems/Drivetrain.java

@@ -10,47 +10,80 @@
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import frc.robot.Constants;
+import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.kinematics.DifferentialDriveOdometry;
+
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.romi.RomiGyro;
 
 public class Drivetrain extends SubsystemBase {
   /** Creates a new Drivetrain. */
-   CANSparkMax rightFrontSpark;
-   CANSparkMax rightBackSpark;
-   CANSparkMax leftFrontSpark;
-   CANSparkMax leftBackSpark;
-   MotorControllerGroup rightMotors;
-   MotorControllerGroup leftMotors;
-   DifferentialDrive dDrive;
-
+  CANSparkMax rightFrontSpark;
+  CANSparkMax rightBackSpark;
+  CANSparkMax leftFrontSpark;
+  CANSparkMax leftBackSpark;
+  MotorControllerGroup rightMotors;
+  MotorControllerGroup leftMotors;
+  DifferentialDrive dDrive;
+  DifferentialDriveOdometry m_odometry;
+  Pose2d  m_pose;
+
+  private Spark rightMotorRomi;
+  private Spark leftMotorRomi;
+  private Encoder leftEncoderRomi;
+  private Encoder rightEncoderRomi;
+  private RomiGyro gyroRomi;
+
 
   public Drivetrain() {
-    rightFrontSpark = new CANSparkMax(Constants.RIGHT_FRONT_SPARK, MotorType.kBrushless);
-    rightBackSpark = new CANSparkMax(Constants.RIGHT_BACK_SPARK, MotorType.kBrushless);
-    leftFrontSpark = new CANSparkMax(Constants.LEFT_FRONT_SPARK, MotorType.kBrushless);
-    leftBackSpark = new CANSparkMax(Constants.LEFT_BACK_SPARK, MotorType.kBrushless);
+    if (RobotBase.isReal()) {
+      rightFrontSpark = new CANSparkMax(Constants.RIGHT_FRONT_SPARK, MotorType.kBrushless);
+      rightBackSpark = new CANSparkMax(Constants.RIGHT_BACK_SPARK, MotorType.kBrushless);
+      leftFrontSpark = new CANSparkMax(Constants.LEFT_FRONT_SPARK, MotorType.kBrushless);
+      leftBackSpark = new CANSparkMax(Constants.LEFT_BACK_SPARK, MotorType.kBrushless);
+
+      rightBackSpark.follow(rightFrontSpark);
+      leftBackSpark.follow(leftFrontSpark);
 
     //rightBackSpark.follow(rightFrontSpark);
     //leftBackSpark.follow(leftFrontSpark);
 
-    rightFrontSpark.enableVoltageCompensation(12);
-    rightBackSpark.enableVoltageCompensation(12);
-    leftFrontSpark.enableVoltageCompensation(12);
-    leftBackSpark.enableVoltageCompensation(12);
+      rightFrontSpark.setIdleMode(IdleMode.kBrake);
+      rightBackSpark.setIdleMode(IdleMode.kBrake);
+      leftFrontSpark.setIdleMode(IdleMode.kBrake);
+      leftBackSpark.setIdleMode(IdleMode.kBrake);
 
     rightFrontSpark.setIdleMode(IdleMode.kCoast);
     rightBackSpark.setIdleMode(IdleMode.kCoast);
     leftFrontSpark.setIdleMode(IdleMode.kCoast);
     leftBackSpark.setIdleMode(IdleMode.kCoast);
 
+    } else {
+        // PWM channels 0 and 1 respectively
+      leftMotorRomi = new Spark(0);
+      rightMotorRomi = new Spark(1);
+
+      rightMotors = new MotorControllerGroup(rightMotorRomi);
+      leftMotors = new MotorControllerGroup(leftMotorRomi);
+      leftEncoderRomi = new Encoder(4, 5);
+      rightEncoderRomi = new Encoder(6, 7);
+
+      gyroRomi = new RomiGyro();
+
+    }
 
-    rightMotors = new MotorControllerGroup(rightFrontSpark, rightBackSpark);
-    leftMotors = new MotorControllerGroup(leftFrontSpark, leftBackSpark);
     dDrive = new DifferentialDrive(leftMotors, rightMotors);
+    //m_odometry = new DifferentialDriveOdometry(
+    //    gyroSim.getRotation2d(),
+    //    leftEncoderSim.getDistance(), rightEncoderSim.getDistance());
 
-
   }
+
   public void arcadeDrive(double speed, double rotation){
 
     dDrive.arcadeDrive(speed, rotation);
@@ -69,5 +102,8 @@ public void tankDrive(double right, double left){
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
+    //m_pose = m_odometry.update(gyroSim.getRotation2d(),
+    //            leftEncoderSim.getDistance(),
+    //            rightEncoderSim.getDistance());
   }
 }

vendordeps/RomiVendordep.json

@@ -0,0 +1,36 @@
+{
+    "fileName": "RomiVendordep.json",
+    "name": "Romi-Vendordep",
+    "version": "2022.2.1",
+    "uuid": "2854af28-a682-4c3e-abe5-1f62c288c6b8",
+    "mavenUrls": [],
+    "jsonUrl": "",
+    "javaDependencies": [
+        {
+            "groupId": "edu.wpi.first.romi",
+            "artifactId": "romi-vendordep-java",
+            "version": "2022.2.1"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "edu.wpi.first.romi",
+            "artifactId": "romi-vendordep-cpp",
+            "version": "2022.2.1",
+            "libName": "romiVendordep",
+            "headerClassifier": "headers",
+            "sourcesClassifier": "sources",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxraspbian",
+                "linuxaarch64bionic",
+                "windowsx86-64",
+                "windowsx86",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        }
+    ]
+}