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add fuel in simulation #52

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add fuel in simulation #52

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25544c5
Add simulated game pieces to field
ariakrishnamoorthy Jan 30, 2026
4ca8ebe
Merge branch 'main' into aria/add-game-pieces
ariakrishnamoorthy Feb 4, 2026
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35 changes: 33 additions & 2 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,8 +4,19 @@

package frc.robot;

import org.ironmaple.simulation.SimulatedArena;
import java.util.List;

import org.ironmaple.simulation.SimulatedArena;
import org.ironmaple.simulation.gamepieces.GamePiece;
import org.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoNoteOnField;
import org.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltFuelOnField;
import org.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeAlgaeOnField;
import org.json.simple.parser.Yytoken;

import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.StructArrayPublisher;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.TimedRobot;
Expand Down Expand Up @@ -117,11 +128,31 @@ public void testPeriodic() {}

/** This function is called once when the robot is first started up. */
@Override
public void simulationInit() {}
public void simulationInit() {
for (int xCnt = 0; xCnt < 4; xCnt++){
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@riley-jen riley-jen Feb 4, 2026

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can we move this stuff somewhere else?

double x = 3 + xCnt * 0.15;
for (int yCnt = 0; yCnt < 6; yCnt++){
double y = 3 + yCnt * 0.15;
SimulatedArena.getInstance().addGamePiece(new RebuiltFuelOnField(new Translation2d(x, y)));

}
}


}


/** This function is called periodically whilst in simulation. */
StructArrayPublisher<Pose3d> fuelPoses = NetworkTableInstance.getDefault()
.getStructArrayTopic("MyPoseArray", Pose3d.struct)
.publish();
@Override
public void simulationPeriodic() {
SimulatedArena.getInstance().simulationPeriodic();
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@augmentcode augmentcode Bot Feb 4, 2026

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SimulatedArena.getInstance().simulationPeriodic() is also called inside MapleSimSwervePhysics.update(), so calling it here as well may advance the arena twice (or at mismatched rates) and desync game-piece/robot simulation behavior. Consider ensuring the arena is stepped exactly once per simulation loop.

Severity: medium

Fix This in Augment

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fuelPoses.accept(SimulatedArena.getInstance()
.getGamePiecesArrayByType("Fuel"));
}


}
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