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Simulating Joysticks and the Driver Station
As of Toast v2.0.1, the Simulation Environment has gained the ability to use the official FRC Driver Station (and the unofficial QDriverStation) as control targets. In short, this means that you can use real joysticks and the real driver station in a simulation environment.
Before trying to connect with the driver station, please make sure of the following details:
- You must have Bonjour installed. This comes with Apple iTunes, and is most likely already on your computer.
Connecting to the Toast Simulator through the Driver Station is very simple.
- Open your
Toast.confconfiguration file (under
run/toast/config/) and change the
- Open the Driver Station and under "Team Number" type "TOAST" (if TOAST fails to work, use 9990 instead)
- Also ensure you are using the 2015 DS and FMS protocol
For most users, the setup process is now complete. If you wish to do more advanced setup, feel free to read on.
Customizing your DS Interface
You can change a number of details regarding Toast's Simulator.
By default, Toast will add a proxy to Bonjour that will reroute
localhost (127.0.0.1). This means that the Driver Station can connect to the running Toast instance on the machine. If you wish to disable this behavior (i.e. not proxy), you can set the
sim.bonjour.enabled config option to
false. If you want to use a team number other than
9990, you can change the
sim.bonjour.target value in the configuration to another value.
sim.ds.enabled option to
false will prevent Toast from listening for Driver Station connections.
Connecting from another computer's Driver Station
If the computer that is running the Driver Station is different from the computer that is running the Toast simulator, there is a way to create a connection between these two systems, although it is more complicated.
Step 1: Choose a team number. Try to set this to something like
9991, where it is unlikely to cause conflicts. If you are using the default FRC Driver Station, you can even use letters like
Step 2: Create a mDNS proxy. Windows and Macintosh computers that have Bonjour installed can run
dns-sd -P roboRIO-TEAM _ni._tcp local 3580 roboRIO-TEAM.local target_ip
TEAM is the team number you have chosen, and
target_ip is the IP Address or Hostname of the machine running the Toast simulator.
- Step 3: Connect. Start up the Toast Simulator and open your Driver Station. Set the Target Team Number in the Driver Station and you should be able to connect the Driver Station to the Toast Simulator.