This is Stickbot, an FRC robot project which loosely simulates the mechanisms on the Twisted Devils' 2025 robot. It is intended for use as a teaching tool for command-based programming, particularly for assembling command compositions involving multiple subsystems.
The following subsystems are available to play with:
- Swerve Drive (not yet implemented in simulation)
- Elevator: Main elevator on which everything else is mounted
- SwingArm: Main pivot point at the top of the elevator
- Extender: The arm attached to the SwingArm pivot point, which can extend outwards
- Wrist: Rotating wrist at the end of the Extender, to which the Intake is mounted
- Intake: (Not yet implemented in simulation)
To run the simulation, click the Wpilib button and type/select "Simulate Robot Code". When the program finishes compiling, a menu will appear. Make sure SimGUI is checked, and Use Real DriverStation is not (unless you want to use the real DS software).
To enable the robot, select "Teleoperated" from the "Robot State" menu.
A pre-configured layout should already be saved for the simulation GUI, which includes a box where the "stickbot" is displayed. If it is missing, you can show it from the top menu by selecting: NetworkTables/SmartDashboard/sim.
A pre-configured keyboard controller is also included. The number keys 1 through 0 and the adjacent - and = keys are set up as buttons 1-12 for you to bind to whatever you want. Additionally, the arrow keys and ./;' keys are set up to control four joystick axes, and code is in place so that using these axes will manually move the simulated mechanisms.
The blue bar is the main Elevator, the pink is the Extender, and the Green represents the Intake/Wrist.
The main thing to do in this project is to program commands and command sequences to move these mechanisms. The mechanisms have the following encoder ranges:
- SwingArm and Wrist are in degrees, with 0 being straight up. They can reach from just over -180 degrees to just under 180 degrees.
- Elevator ranges from 0 to about 50
- Extender ranges from 0 to about 110