RobotPy physics.py support is back!

[virtuald]

• PyFRC API documentation updated and lots of API updates
  • The pyfrc physics controller can control the 2D field widget in the WPILib simulator
  • Utilizes the various wpilib geometry/kinematics objects
• Many of the physics examples have been updated now
  • https://github.com/robotpy/examples/tree/master/physics/src
  • https://github.com/robotpy/examples/tree/master/navx-rotate-to-angle-arcade
  • … and more!
• Updated documentation for hal.simulation, and other simulation related topics

To get all these features make sure you upgrade to the latest version of pyfrc!

[Mr.R_2]

Thank you for these, they are awesome. I have two questions.

1. I have tried most of the physics examples, and they just work However, the navx-turn-to-angle does not seem to (the arcade seems to, but I do not have a controller with me right now to fully test it). I get the following error.

    self.engine.update_sim(now, tm_diff)
  File "C:\Users\*\Documents\Robotics\RobotPy\examples\navx-rotate-to-angle\physics.py", line 43, in update_sim
    vx, vy, vw = self.drivetrain.get_vector(lf_motor, lr_motor, rf_motor, rr_motor)
AttributeError: 'MecanumDrivetrain' object has no attribute 'get_vector'

I updated pyfrc, and attempted to update the navx libraries; did I forget to update something else?

2. I noticed that you all have been working on the characterization tool. In order to use it, we need to use it to build a java robot file correct? We are ready to begin using that in the near future, and I want us to do it correctly.

Thank you all again, this update is incredibly helpful (and timely, yesterday, our team members started customizing auto routines with the state-machine class. Now they can continue to do so in sim while the build team perfects mechanisms on the hardware).

[virtuald]

1. Forgot to update that example, it’s fixed now.
2. The robot characterization tool started as a RobotPy project, but is now an official wpilib project. I believe the current version of the tool generates Java code that you can use for the characterization process.