adds sim

Test_17.0_Base_Rewrite/simgui-ds.json

@@ -1,4 +1,9 @@
 {
+  "System Joysticks": {
+    "window": {
+      "enabled": false
+    }
+  },
   "keyboardJoysticks": [
     {
       "axisConfig": [

Test_17.0_Base_Rewrite/src/main/java/frc/robot/Robot.java

@@ -1,6 +1,8 @@
 package frc.robot;
 
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.DataLogManager;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
@@ -11,21 +13,21 @@ public class Robot extends TimedRobot {
 
   @Override
   public void robotInit() {
-    // Create RobotContainer, which sets up the swerve + controller bindings
+    // Start WPILib data logging (creates .wpilog files)
+    DataLogManager.start();
+    DriverStation.startDataLog(DataLogManager.getLog());
+
     m_robotContainer = new RobotContainer();
   }
 
   @Override
   public void robotPeriodic() {
-    // Run the command scheduler every loop
     CommandScheduler.getInstance().run();
   }
 
   @Override
   public void autonomousInit() {
-    // Get whatever auto command RobotContainer exposes (currently just a stub)
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
-
     if (m_autonomousCommand != null) {
       m_autonomousCommand.schedule();
     }
@@ -41,7 +43,6 @@ public void autonomousExit() {
 
   @Override
   public void teleopInit() {
-    // Cancel auto when teleop starts
     if (m_autonomousCommand != null) {
       m_autonomousCommand.cancel();
       m_autonomousCommand = null;
@@ -56,7 +57,6 @@ public void disabledPeriodic() {}
 
   @Override
   public void testInit() {
-    // Cancel all commands when entering test mode
     CommandScheduler.getInstance().cancelAll();
   }
 

Test_17.0_Base_Rewrite/src/main/java/frc/robot/RobotContainer.java

@@ -1,5 +1,6 @@
 package frc.robot;
 
+import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -17,6 +18,10 @@ public class RobotContainer {
   private final CommandXboxController m_driverController =
       new CommandXboxController(OperatorConstants.DRIVER_CONTROLLER_PORT);
 
+  // Rotation scale: 30% in sim, 100% on real robot
+  private static final double ROTATION_SCALE =
+      RobotBase.isSimulation() ? 0.05 : 1.0;
+
   // YAGSL drive input stream
   private final SwerveInputStream driveAngularVelocity =
       SwerveInputStream.of(
@@ -25,7 +30,8 @@ public class RobotContainer {
               () -> -m_driverController.getLeftX()) // strafe
           .withControllerRotationAxis(() -> -m_driverController.getRightX()) // rotation
           .deadband(OperatorConstants.DEADBAND)
-          .scaleTranslation(1.0)  // full speed; lower if you want a cap
+          .scaleTranslation(1.0)          // full translation speed
+          .scaleRotation(ROTATION_SCALE)  // 30% in sim, 100% on real
           .allianceRelativeControl(true); // always field-relative
 
   // You can copy() and rescale driveRegular later for slow mode, etc.

Test_17.0_Base_Rewrite/src/main/java/frc/robot/subsystems/SwerveSubsystem.java

@@ -8,6 +8,8 @@
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.Filesystem;
+import edu.wpi.first.wpilibj.smartdashboard.Field2d;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
@@ -17,31 +19,33 @@
 import swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity;
 
 public class SwerveSubsystem extends SubsystemBase {
+
   private final SwerveDrive swerveDrive;
 
+  //  Added: Field2d object for AdvantageScope / dashboards
+  private final Field2d field = new Field2d();
+
   public SwerveSubsystem() {
-    // Directory containing swervedrive.json and module configs
     File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(), "swerve");
 
-    // Keep telemetry light by default
     SwerveDriveTelemetry.verbosity = TelemetryVerbosity.LOW;
 
     try {
-      // Create the swerve drive from YAGSL configs
       swerveDrive =
           new SwerveParser(swerveJsonDirectory)
               .createSwerveDrive(Constants.Drive.MAX_LINEAR_SPEED_MPS);
     } catch (Exception e) {
       throw new RuntimeException("Failed to create SwerveDrive from configuration", e);
     }
+
+    //  Publish the field to NetworkTables so AdvantageScope can see it
+    SmartDashboard.putData("Field", field);
   }
 
-  /** Direct drive using translation and rotation (radians/sec). */
   public void drive(Translation2d translation, double rotationRadPerSec, boolean fieldRelative) {
     swerveDrive.drive(translation, rotationRadPerSec, fieldRelative, false);
   }
 
-  /** Drive directly from chassis speeds (robot- or field-relative chosen by caller). */
   public void drive(ChassisSpeeds speeds, boolean fieldRelative) {
     if (fieldRelative) {
       swerveDrive.driveFieldOriented(speeds);
@@ -50,34 +54,37 @@ public void drive(ChassisSpeeds speeds, boolean fieldRelative) {
     }
   }
 
-  /** Build a Command that continuously drives field-relative from a ChassisSpeeds supplier. */
   public Command driveFieldOriented(Supplier<ChassisSpeeds> velocity) {
     return run(() -> swerveDrive.driveFieldOriented(velocity.get()));
   }
 
-  /** Current robot pose from YAGSL's internal odometry. */
   public Pose2d getPose() {
     return swerveDrive.getPose();
   }
 
-  /** Heading from the swerve pose. */
   public Rotation2d getHeading() {
     return swerveDrive.getPose().getRotation();
   }
 
-  /** Reset gyro heading to 0. */
   public void zeroGyro() {
     swerveDrive.zeroGyro();
   }
 
-  /** Expose underlying YAGSL SwerveDrive (used by SwerveInputStream). */
   public SwerveDrive getSwerveDrive() {
     return swerveDrive;
   }
 
+  //  Optional getter if you ever want direct access to the field
+  public Field2d getField() {
+    return field;
+  }
+
   @Override
   public void periodic() {
     // Keep YAGSL odometry updated
     swerveDrive.updateOdometry();
+
+    //  Update the Field2d pose so AdvantageScope can draw the robot
+    field.setRobotPose(getPose());
   }
 }