Integrated Maple Sim

[etangent]

Integrates maple sim into our simulation for drive and game pieces

• Models failures in odometry like wheel skidding
• Also uses cameras in sim to correct for these errors
• Uses the blue pose to represent maple's pose (the "correct" pose) and the ascope model which represents our odometry
• Can run full autos and cycles
  • Drops coral from the hps intake
  • Some form of beam break is modeled on the Scoral
  • Branch will hold scored coral when at the right position

Auto.MP4

Note that the last coral seems to be outside the robot. In reality, our ascope model was not properly tracking the blue (maple) pose, and therefore didn't actually know where it was. You can see the issue that caused this; the robot was unable to see any tags the whole way there. This demonstrates how we can use maple sim to identify issues that might occur in our autos and cycles.

More detailed information about the simulation can be found here
See relevant Chief Delphi thread here