Competition Robot Parts Linear Mechanism Simulator

Another Competition Robot Parts announcement! This is a project I’ve been working on off and on for quite a while, but I recently decided to make a big code push to get it ready for the 2020 season.

It’s a web-based simulator for linear FRC mechanisms. Linear mechanisms could be anything from an elevator to a drivetrain (running in a straight line of course).


Full disclosure: this is very much a beta version. I’m sure there are bugs. If you find any, send me an email at:


  • Up to 3 motor types driving the mechanism at once (any quantity of each motor type).
  • Up to 5 stages of gearing reduction.
  • Simulation at a user-specified supply voltage.
  • Simulation of horizontal and vertical mechanisms (and any angle in between).
  • Multiple different options for converting rotary motion into linear motion.
  • 4 different motion profiles (constant throttle, trapezoidal, and 2 trapezoidal variations).
  • Individual current limiting for each motor type.
  • User-friendly graphs (Google charts) for viewing data.
  • Generation of CSV data (in case you want to do your own analysis).

Let me know what you think! I would love to hear suggestions of ways to improve it.

Planned Features:

  • Simulation of, and compensation for, battery voltage drop from current draw.
  • Simulation of friction (wheel slip) for wheel-driven mechanisms (drivetrains).
  • Torque limiting for avoiding wheel slip.

This is hella cool, Orion! It’s been non-stop bangers from CRP lately, keep up the great work!


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