FTC-mechanum-drivtrain-simulator

a very shoddy simulator for a mechanum wheel drive train.

instructions

Dependancies

• Python i used 3.12
• pygame i used 2.5.2

Usage

to use copy everything in src and put your code in between the lines saying update game state.

code will look like below

...

while True:
    # Handle events
    clock.tick(60)
    for event in pygame.event.get():
        if event.type == pygame.QUIT:
            False
    
    # Update game state
    # PUT ALL YOUR CODE UNDER HERE 

    
    ##    ------------------------------------    ##
    Robot.moveOnForce() # updates the robot position based on wheel power
    Robot.drawOnScreen(pygameWindow) # draws the robot on the screen

Documentation

Robot.setPower({"wheelName": power})

The set power method sets power for whatever the desired wheels. The function takes a dictionary/Hashmap of wheel names and power values.

wheelDict = {"leftBackWheel":1, # a dict of what wheel powers to set.
             "rightBackWheel":1,
             "rightFrontWheel":1,
             "leftFrontWheel":1,
             }

Robot.setPower(wheelDict)

Robot.go((x,y),rotation)

The go method moves the robot to a position on the screen. Pass a tuple with the x position, y position and the rotation in degrees. It goes to the position it doesnt move

Robot.go((100,100),0) # moves the robot to 100,100 and sets the rotation to 0 degrees

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