Differential Drive Sim

This template provides a partially completed WPILib Java project for a differential (tank-style) drive robot.
Programmers are expected to fill in the missing code to

1. Set up the Drive Subsystem

   a. Set up motor controllers

   b. Bind the motors to arcade drive controls

2. Set up an Arcade Drive command

3. Bind a command to a joystick controller

Finally, you should be able to simulate the robot movement on both a 2D field and a 3D field. The remainder of the document is a guide to how to get your simulation running.

▶️ 1. Run the Robot in Simulation

Once you’ve filled in the required code, you can run the robot in simulation using the WPILib extension:

1. Open the Command Palette in VS Code: Ctrl+Shift+P (Windows) / Cmd+Shift+P (Mac).
2. Select WPILib: Simulate Robot Code.
3. Choose the option: Sim GUI.

---

🔍 2. Open AdvantageScope (AS)

AdvantageScope is used to visualize and interact with the simulated robot.

1. Launch AdvantageScope.
2. Go to File > Connect to Simulator — this connects to the simulation running from WPILib.

---

🗺️ 3. Visualize in 2D Field ("Odometry" UI)

1. In AS, switch to the "Odometry" tab at the top.
2. In the left sidebar, locate the data key named MyPose.
3. Drag MyPose into the “Poses” section at the bottom — the robot should now appear on the 2D field.

---

🎮 4. Set Up Robot Control

To control the robot simulation:

1. In AS, open the "Robot Simulation" window (usually on the right or bottom).
2. Under Joysticks, find the Joysticks[0] slot.
3. Drag Keyboard 0 into Joysticks[0] (unless you have a physical controller connected).
   • Joysticks[0], [1], etc., represent the slots used in your robot code (e.g., new Joystick(0)).
   • Binding Keyboard 0 simulates a gamepad using your keyboard.
4. Under Robot State, click “Teleoperated” to enable the robot.

🕹️ Default Keyboard Controls

• W = Drive Forward
• S = Drive Backward
• A = Rotate Counter-Clockwise (left)
• D = Rotate Clockwise (right)

---

🧱 5. Visualize in 3D Field

To simulate the robot in a 3D environment:

1. In AdvantageScope, switch to the "3D Field" UI (select from the top tab bar).
2. Click on the field model selector, and choose "Kitbot 2025".
3. Your simulated robot should now appear and move around on a 3D model of the FRC field!