20260626-0311-17.9380378.mov

This project is a plug-and-play FTC OpMode Simulator that runs without a robot.

Features

• Line-by-line debugging with breakpoints
• Live TeleOp input from a local keyboard or controller
• Emulated Driver Station with OpMode selection, init, start, stop, and telemetry
• Simulated mecanum drive using per-wheel motor acceleration models fit from real-world data
• Fake hardware layer that runs existing FTC code without modifying your OpModes
• Motor modeling and trajectory simulation for testing motor models, controllers, and robot behavior against real data

How it works

The simulator sends live robot data to AdvantageScope for visualization and connects to a local Driver Station application over a socket. The Driver Station provides gamepad input, OpMode controls, and telemetry, allowing existing FTC code to run in a fully simulated environment.

Usage

1. Download Advantage Scope
2. Open AdvantageScope and connect to Simulator -> RLOG Server

3. In the top right corner click the + icon and select if you want a line graph, 2d field, or 3d field.

Make sure you set it to the right field selected.

4. Run TeamCode/src/test/java/SimulateMecanumBase and press init and start.

5. Then drag fields you want to graph/visualize

Looking for help with

• Anyone interested in collaborating or working on a similar project
• Ball physics and collision detection
• Improving the Driver Station UI
• New features or ideas
• Packaging/distribution (Gradle plugin, library, installer, etc.)
• Better project architecture or module organization