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Originally Posted by kamocat
Well, I certainly don't mind being proven wrong, but I don't yet understand how this works. If you're not simulating the motion of the robot, what are you simulating?
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I am simulating the motion of the robot - it's just that the robot model isn't exactly physics based. It matches the robot motion to about 85% accuracy (or thereabouts), which is plenty close enough to get the bugs out of the autonomous code (especially when you're trying to implement scripted autonomous routines, or something else that has a lot of potential for going wrong, like Go To XY Coordinate functions).
I did a presentation at the FIRST Conference in St. Louis on scripted autonomous control. I'm still working on making the documentation and examples good enough to post online. The examples will include the autonomous simulator that will run the autonomous code that was created on the big screen at the presentation. Hopefully I should have it posted tomorrow evening.
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If what you mean by simulating is simply running your subVIs without the robot, then my view is completely different. Yes this will catch programming errors. Unit testing is one of the steps anyone should take when developing software.
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I also did a presentation at the conference on unit testing with simple models to represent the motion of various parts of the robot. I didn't call it unit testing since I didn't want to throw any more jargon into the presentation than there already was.
The material and examples from that presentation are already posted in the chiefdelphi papers area. The presentation and examples stop at fairly simple examples, but the autonomous simulator is just an extension of what was presented at the simulation presentation.