[marccenter]

Perhaps your question has already been answered, but there is another
way to build "a simulator " using simple switches and servo motors
that I used in 2004 to test my logic.

A standard servo motor can be plugged in to the output port
of the robot controller. This motor becomes synonomous with
any robot motor you have in operating on your robot.

Next, make yourself or get hold off one of those autonomous
cables to help debug autonomous mode.

I then plugged in some Joysticks to the system, downloaded
by code and watched the motors, ie servo motors, respond to
joystick commands.

Add yourself some switches by plugging directly into the robot
controller and you have yourself a "robot simulator" good
for simple software checkout testing.

This is very similiar to the approach we use at work, Oops,
that's why FIRST is so much fun, havings students learn
what they will see in their future workplace.