Simulating PacGoat with FRCSim

This tutorial walks you through running the PacGoat example, assuming you already have FRCSim installed.

Open Eclipse

Open Eclipse

1. Click on the menu

2. Type “eclipse”

3. Click on the eclipse icon

Open the workspace

Open the workspace

Click OK

Welcome to eclipse

Exit the welcome menu

Start a new project

1. Click New Project

2. If using Java

  (a) Expand WPILib Robot Java Development 13(b) Select Example Robot Java Project

3. If using C++

  (a) Expand WPILib Robot C++ Development

  (b) Select Example Robot C++ Project

4. Click Next

Choose the PacGoat example

Choose the PacGoat example

1. Select the PacGoat example

2. Click Next

Naming the project

Naming the project

Type in a project name such as “PacGoat”

Finish

Finish

Press Finish

Running the Your Robot Program

Running the Your Robot Program

1. Right click on the project

2. Select Run As

3. Click WPILib Simulation

Running the Simulator and Driver Station

Running the Simulator and Driver Station

1. Open a terminal and run

frcsim ~/wpilib/simulation/worlds/PacGoat2014.world

2. Click on the sidebar and type "sim_ds" to launch the driver station

2. Insert the PacGoat model from the "insert" tab in gazebo.

 

If you do not see the programs in the search bar and you installed manually, that means you didn't correctly follow all the instructions in the installation tutorial. Read carefully!

Installing FRCSim Manually

Running autonomous

Running autonomous

1. Make sure the simulator is running

2. Select Autonomous

3. Click Enable

Using a PS3 joystick to drive

Using a PS3 joystick to drive

1. Plugin a joystick (preferably a PS3 SIX AXIS/DUALSHOCK)

2. Select Teleop

3. Click Enable

4. Drive around and shoot balls (button mapping available in appendix)

0 Report Errors

Use this form to report any errors with the documentation. For help with WPILib, please use the FIRST Forums at http://forums.usfirst.org For reporting WPILib bugs, please submit an issue on GitHub at https://github.com/wpilibsuite/allwpilib/issues/new

Ignore