FRC 4152 Bruce - 2025 Reefscape

With AdvantageKit and MapleSim Simulation

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Highlights

• 4 coral L4 autonomous on both sides
• full coral simulation and loading staion intaking

Using Simulation

When running the simulation, you can see the simulation results through AdvantageScope

• Add /assets/Robot_2025 V3 to AdvantageScope assets folder
• Included AdvantageScope Layout /assets/AdvantageScope Layout.json
• Run code in simulation.

Please drag the following fields:

• Open field AdvantageKit/RealOutputs/FieldSimulation/RobotPosition make it Robot/Robot 2025 V3
• Open field AdvantageKit/RealOutputs/Elevator/ElevatorPose make it component 1 of Robot/Robot 2025 V3
• Open field AdvantageKit/RealOutputs/Elevator/CarriagePose make it component 2 of Robot/Robot 2025 V3
• Open field AdvantageKit/RealOutputs/Arm/ArmPose make it component 3 of Robot/Robot 2025 V3
• Open field AdvantageKit/RealOutputs/Climber/ClimberPose make it component 3 of Robot/Robot 2025 V3
• Open field AdvantageKit/RealOutputs/FieldSimulation/Algae and make it Algae
• Open field AdvantageKit/RealOutputs/FieldSimulation/Coral and make it Coral
• Open field AdvantageKit/Intake/CoralInIntake and make it Coral
• Open field AdvantageKit/RealOutputs/Odometry/Robot and make it Green Ghost/Robot 2025 V3
• Open field AdvantageKit/RealOutputs/DriveToPose/targetPose and make it Blue Ghost/Robot 2025 V3

Controls

Driver Controller

• left Stick: swerve XY translation.
• Right Stick: swerve rotation.
• Left Trigger: place In processor (auto drive).
• Right Trigger: intake from loading station.
• Right Trigger + Left Trigger: intake from loading station (auto drive to closest loading station position).
• Left Bumper: place in net (auto drive to closest alliance barge position).
• Right Bumper: grab algae out of reef (auto drive to closest reef face and knows which level to grab from).
• left Stick Button (Our controller has back paddles mapped to the stick buttons): automaticaly align to left reef of closest reef face and place pre selected level.
• Right Stick Button (Our controller has back paddles mapped to the stick buttons): automaticaly align to right reef of closest reef face and place pre selected level.
• B: move to trough position and score on second click.
• A: Pre select L2 position and remembers position until changed.
• X: Pre select L3 position and remembers position until changed.
• Y: Pre select L4 position and remembers position until changed.
• Start: reset odometry.
• Back: reset elevator encoder.
• POV Up: prepare climber for climbing.
• POV Down: climb.
• POV Left: lower climber and reset other subsystems to defult positions
• POV Right: grab lollipop algae (auto drive to closest lollipop algae).