FRCSIM Help

[garystjean]

Alright I was able to get it working. I didn't realize that the new version requires me to manually load the world file using

frcsim worldfile.world

Once I did that and ran the GearsBot sample program I was able to get it working, though I had to fix up the joystick controls -the sample code didn't work with my Xbox controller.

One weird thing I noticed was that after I played around with the simulation for a couple minutes and tried out the Smart Dashboard simulator the robot seemed to drop down below the floor (see attachment). I can only see the top-most part of the robot, the rest is below the ground level?

Not sure if there is a defect in the model itself or something?

-Gary

[andres_garbio]

After several minutes of inspection we saw that it's working! although it is very very slow (the gearbot claw takes 5 minutes to go up)

We are running it on a 64 bit computer with a intel core i7 processor and 8 Gb of RAM. Gazebo seems to be running just fine (we can zoom in and out real fast) is there any way we can make it run at normal speeds?

[Peter Mitrano]

Originally Posted by andres_garbio

After several minutes of inspection we saw that it's working! although it is very very slow (the gearbot claw takes 5 minutes to go up)

We are running it on a 64 bit computer with a intel core i7 processor and 8 Gb of RAM. Gazebo seems to be running just fine (we can zoom in and out real fast) is there any way we can make it run at normal speeds?

Interesting. What does gazebo say the real-time factor is? it should be displayed in the bottom of gazebo. Also, can you post some of the output from the following command?

gz topic -z /gazebo/frc/time

[Peter Mitrano]

Originally Posted by garystjean

One weird thing I noticed was that after I played around with the simulation for a couple minutes and tried out the Smart Dashboard simulator the robot seemed to drop down below the floor (see attachment). I can only see the top-most part of the robot, the rest is below the ground level?
-Gary

This is caused by an awesome little bug in simulation time. I'll be posting a video tutorial on debugging very soon that goes deep into it, but for now, just do this...

1) find all instances of usePIDOutpout()
2) find where you call the set() method on your motor
3) wrap it in an if statement that checks if the output is NaN

EX:

public void usePIDOutput(){
if (!Double.isNan(output)){
motor.set(output)
}
}