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Re: cRIO simulator
You could program for a non-crio target.
If you are using LabVIEW, you can use indicators and sliders as your input and output. Create a new VI from scratch, drag a while loop and wait (about 25ms seems good for robots), and click the run button to simulate. If it tries to download to a robot, then you created the VI in an RT project (which you don't want to do).
If you are using a different language, you can compile C/C++ code for consoles fairly easily, but GUI's are fairly hard for new programmers to quickly create and GUI programming is nothing like RT programming.
Either way, you'll be simulating the algorithm and teaching programming concepts, not the actual use of the WPI library (which is only a small part of robot programming). This is still useful even during the build season, to prove algorithms before running them.
Algorithm development is one of my favorite parts of programming, and I spend a good deal of time each season simulating the more complex portions of code on my laptop while I'm not even at the shop.
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