diff --git a/templates/CTRE Swerve with maple-sim/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/templates/CTRE Swerve with maple-sim/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
index bfd8cbb..8e3ee20 100644
--- a/templates/CTRE Swerve with maple-sim/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+++ b/templates/CTRE Swerve with maple-sim/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
@@ -270,7 +270,7 @@ public void periodic() {
private void startSimThread() {
mapleSimSwerveDrivetrain = new MapleSimSwerveDrivetrain(
- kSimLoopPeriod,
+ Seconds.of(kSimLoopPeriod),
Pounds.of(115),
Inches.of(30),
Inches.of(30),
diff --git a/templates/CTRE Swerve with maple-sim/src/main/java/frc/robot/utils/simulation/MapleSimSwerveDrivetrain.java b/templates/CTRE Swerve with maple-sim/src/main/java/frc/robot/utils/simulation/MapleSimSwerveDrivetrain.java
index 5220cde..b847a9b 100644
--- a/templates/CTRE Swerve with maple-sim/src/main/java/frc/robot/utils/simulation/MapleSimSwerveDrivetrain.java
+++ b/templates/CTRE Swerve with maple-sim/src/main/java/frc/robot/utils/simulation/MapleSimSwerveDrivetrain.java
@@ -1,11 +1,9 @@
package frc.robot.utils.simulation;
-/*
- * Copyright (C) Cross The Road Electronics. All rights reserved.
- * License information can be found in CTRE_LICENSE.txt
- * For support and suggestions contact support@ctr-electronics.com or file
- * an issue tracker at https://github.com/CrossTheRoadElec/Phoenix-Releases
- */
+// Copyright 2021-2025 Iron Maple 5516
+// Original Source: https://github.com/Shenzhen-Robotics-Alliance/maple-sim/blob/main/templates/CTRE%20Swerve%20with%20maple-sim/src/main/java/frc/robot/utils/simulation/MapleSimSwerveDrivetrain.java
+//
+// This code is licensed under MIT license (see https://mit-license.org/)
import static edu.wpi.first.units.Units.*;
@@ -17,6 +15,7 @@
import com.ctre.phoenix6.sim.CANcoderSimState;
import com.ctre.phoenix6.sim.Pigeon2SimState;
import com.ctre.phoenix6.sim.TalonFXSimState;
+import com.ctre.phoenix6.swerve.SwerveDrivetrain;
import com.ctre.phoenix6.swerve.SwerveModule;
import com.ctre.phoenix6.swerve.SwerveModuleConstants;
import edu.wpi.first.math.geometry.Pose2d;
@@ -33,13 +32,35 @@
import org.ironmaple.simulation.motorsims.SimulatedBattery;
import org.ironmaple.simulation.motorsims.SimulatedMotorController;
+/**
+ * Injects Maple-Sim simulation data into a CTRE swerve drivetrain.
+ *
+ * This class retrieves simulation data from Maple-Sim and injects it into the CTRE {@link com.ctre.phoenix6.swerve.SwerveDrivetrain} instance.
+ *
+ * It replaces the {@link com.ctre.phoenix6.swerve.SimSwerveDrivetrain} class.
+ */
public class MapleSimSwerveDrivetrain {
private final Pigeon2SimState pigeonSim;
private final SimSwerveModule[] simModules;
public final SwerveDriveSimulation mapleSimDrive;
+ /**
+ * Constructs a drivetrain simulation using the specified parameters.
+ *
+ * @param simPeriod the time period of the simulation
+ * @param robotMassWithBumpers the total mass of the robot, including bumpers
+ * @param bumperLengthX the length of the bumper along the X-axis (influences the collision space of the robot)
+ * @param bumperWidthY the width of the bumper along the Y-axis (influences the collision space of the robot)
+ * @param driveMotorModel the {@link DCMotor} model for the drive motor, typically DCMotor.getKrakenX60Foc()
+ * @param steerMotorModel the {@link DCMotor} model for the steer motor, typically DCMotor.getKrakenX60Foc()
+ * @param wheelCOF the coefficient of friction of the drive wheels
+ * @param moduleLocations the locations of the swerve modules on the robot, in the order FL, FR, BL, BR
+ * @param pigeon the {@link Pigeon2} IMU used in the drivetrain
+ * @param modules the {@link SwerveModule}s, typically obtained via {@link SwerveDrivetrain#getModules()}
+ * @param moduleConstants the constants for the swerve modules
+ */
public MapleSimSwerveDrivetrain(
- double simPeriodSeconds,
+ Time simPeriod,
Mass robotMassWithBumpers,
Distance bumperLengthX,
Distance bumperWidthY,
@@ -74,16 +95,17 @@ public MapleSimSwerveDrivetrain(
for (int i = 0; i < this.simModules.length; i++)
simModules[i] = new SimSwerveModule(moduleConstants[0], moduleSimulations[i], modules[i]);
- SimulatedArena.overrideSimulationTimings(Seconds.of(simPeriodSeconds), 1);
+ SimulatedArena.overrideSimulationTimings(simPeriod, 1);
SimulatedArena.getInstance().addDriveTrainSimulation(mapleSimDrive);
}
/**
- * Update this simulation for the time duration.
+ * Update the simulation.
*
- * This performs a simulation update on all the simulated devices
+ *
Updates the Maple-Sim simulation and injects the results into the simulated CTRE devices,
+ * including motors and the IMU.
*/
- public final void update() {
+ public void update() {
SimulatedArena.getInstance().simulationPeriodic();
pigeonSim.setRawYaw(
mapleSimDrive.getSimulatedDriveTrainPose().getRotation().getMeasure());
@@ -91,6 +113,9 @@ public final void update() {
mapleSimDrive.getDriveTrainSimulatedChassisSpeedsRobotRelative().omegaRadiansPerSecond));
}
+ /**
+ * Represents the simulation of a single {@link SwerveModule}.
+ */
protected static class SimSwerveModule {
public final SwerveModuleConstants
moduleConstant;
@@ -108,6 +133,7 @@ public SimSwerveModule(
}
}
+ // Static utils classes
public static class TalonFXMotorControllerSim implements SimulatedMotorController {
public final int id;
@@ -157,6 +183,14 @@ public Voltage updateControlSignal(
}
}
+ /**
+ * Regulates all {@link SwerveModuleConstants} for a drivetrain simulation.
+ *
+ * This method processes an array of {@link SwerveModuleConstants} to apply necessary adjustments
+ * for simulation purposes, ensuring compatibility and avoiding known bugs.
+ *
+ * @see #regulateModuleConstantForSimulation(SwerveModuleConstants)
+ */
public static SwerveModuleConstants[] regulateModuleConstantsForSimulation(
SwerveModuleConstants[] moduleConstants) {
for (SwerveModuleConstants moduleConstant : moduleConstants)
@@ -165,17 +199,42 @@ public Voltage updateControlSignal(
return moduleConstants;
}
+ /**
+ * Regulates the {@link SwerveModuleConstants} for a single module.
+ *
+ * This method applies specific adjustments to the {@link SwerveModuleConstants} for simulation
+ * purposes. These changes have no effect on real robot operations and address known simulation bugs:
+ *
+ *
+ * - Inverted Drive Motors: Prevents drive PID issues caused by inverted configurations.
+ * - Non-zero CanCoder Offsets: Fixes potential module state optimization issues.
+ * - Steer Motor PID: Adjusts PID values tuned for real robots to improve simulation performance.
+ *
+ *
+ * Note:This function is skipped when running on a real robot, ensuring no impact on constants used on real robot hardware.
+ */
private static void regulateModuleConstantForSimulation(SwerveModuleConstants moduleConstants) {
+ // Skip regulation if running on a real robot
if (RobotBase.isReal()) return;
+ // Apply simulation-specific adjustments to module constants
moduleConstants
+ // Disable encoder offsets
.withEncoderOffset(0)
+ // Disable motor inversions for drive and steer motors
.withDriveMotorInverted(false)
.withSteerMotorInverted(false)
+ // Disable CanCoder inversion
.withEncoderInverted(false)
- .withSteerMotorGains(moduleConstants.SteerMotorGains.withKP(70).withKD(4.5))
+ // Adjust steer motor PID gains for simulation
+ .withSteerMotorGains(moduleConstants.SteerMotorGains
+ .withKP(70) // Proportional gain
+ .withKD(4.5)) // Derivative gain
+ // Adjust friction voltages
.withDriveFrictionVoltage(Volts.of(0.1))
.withSteerFrictionVoltage(Volts.of(0.15))
+ // Adjust steer inertia
.withSteerInertia(KilogramSquareMeters.of(0.05));
}
+
}