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Simulation Framework

The simulation framework used by MonarchVision primarily consists of AdvantageScope and AdvantageKit.

Topics

  • AdvantageScope: AdvantageScope is a graphical tool for simulating and debugging FRC applications. AdvantageScope can graphically represent the robot as it moves around the field and highlight vision behavior, such as detecting april tags and game pieces. AdvantageScope is one of the standard dashboards contained in the WPILib installation.

  • AdvantageKit: AdvantageKit is a framework for logging the state of the robot (input and output values) so that the session can be easily replayed and debugged. AdvantageKit also provides a set of template projects that were used as the basis for architecting the MonarchVision reference application.

  • Log Files: This section describes how to record, inspect, and replay log files to aid in debugging robot code. Log files are invaluable for debugging a scenario from a prior competition or practice match.