Package swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024

Class Arena2024Crescendo

java.lang.Object

swervelib.simulation.ironmaple.simulation.SimulatedArena

swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.Arena2024Crescendo

public class Arena2024Crescendo
extends SimulatedArena

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final class	Arena2024Crescendo.CrescendoFieldObstaclesMap	the obstacles on the 2024 competition field

Nested classes/interfaces inherited from class swervelib.simulation.ironmaple.simulation.SimulatedArena

SimulatedArena.FieldMap, SimulatedArena.Simulatable

Field Summary

Fields

Modifier and Type	Field	Description
protected final CrescendoAmp	blueAmp
protected double	blueAmpClock
protected int	blueAmpCount
protected final CrescendoSpeaker	blueSpeaker
protected final CrescendoAmp	redAmp
protected double	redAmpClock
protected int	redAmpCount
protected final CrescendoSpeaker	redSpeaker

Fields inherited from class swervelib.simulation.ironmaple.simulation.SimulatedArena

ALLOW_CREATION_ON_REAL_ROBOT, bluePublishers, blueScore, blueScoringBreakdown, blueTable, customSimulations, driveTrainSimulations, gamePieces, genericInfoTable, lastMeasuredTimestamp, matchClock, matchClockPublisher, opponentManager, physicsWorld, redPublishers, redScore, redScoringBreakdown, redTable, resetFieldPublisher, resetFieldSubscriber

Constructor Summary

Constructors

Constructor	Description
Arena2024Crescendo()

Method Summary

Modifier and Type	Method	Description
boolean	activateAmp(boolean isBlue)	Activates the amp for the specified team.
void	addAmpCharge(boolean isBlue)	Adds a charge to the amp of the specified team.
boolean	isAmped(boolean isBlue)	Returns wether the specified team currently has an amped speaker
void	placeGamePiecesOnField()	Places Game Pieces on the Field for Autonomous Mode.
void	simulationSubTick(int tickNum)	Processes a Single Simulation Sub-Tick.

Methods inherited from class swervelib.simulation.ironmaple.simulation.SimulatedArena

addCustomSimulation, addDriveTrainSimulation, addGamePiece, addGamePieceProjectile, addIntakeSimulation, addToScore, addValueToMatchBreakdown, addValueToMatchBreakdown, clearGamePieces, disableBreakdownPublishing, enableBreakdownPublishing, gamePieceLaunched, gamePiecesOnField, getGamePiecesArrayByType, getGamePiecesByType, getGamePiecesPosesByType, getInstance, getOpponentManager, getScore, getScore, getSimulationDt, getSimulationSubTicksIn1Period, overrideInstance, overrideSimulationTimings, publishBreakdown, removeGamePiece, removePiece, removeProjectile, replaceValueInMatchBreakDown, replaceValueInMatchBreakDown, resetFieldForAuto, setupValueForMatchBreakdown, shutDown, simulationPeriodic, withOpponentManager

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

blueAmpClock

protected double blueAmpClock

blueAmpCount

protected int blueAmpCount

redAmpClock

protected double redAmpClock

redAmpCount

protected int redAmpCount

redSpeaker

protected final CrescendoSpeaker redSpeaker

blueSpeaker

protected final CrescendoSpeaker blueSpeaker

redAmp

protected final CrescendoAmp redAmp

blueAmp

protected final CrescendoAmp blueAmp

Constructor Details

Arena2024Crescendo

public Arena2024Crescendo()

Method Details

placeGamePiecesOnField

public void placeGamePiecesOnField()

Description copied from class: SimulatedArena

Places Game Pieces on the Field for Autonomous Mode.

This method sets up the game pieces on the field, typically in their starting positions for autonomous mode.

It should be implemented differently for each season-specific subclass of SimulatedArena to reflect the unique game piece placements for that season's game.

Specified by:

placeGamePiecesOnField in class SimulatedArena

simulationSubTick

public void simulationSubTick(int tickNum)

Description copied from class: SimulatedArena

Processes a Single Simulation Sub-Tick.

This method performs the actions for each sub-tick of the simulation, including:

• Updating all registered AbstractDriveTrainSimulation objects.
• Updating all GamePieceProjectile objects in the simulation.
• Stepping the physics world with the specified sub-tick duration.
• Removing any game pieces as detected by the IntakeSimulation objects.
• Executing any additional sub-tick actions registered via SimulatedArena.addCustomSimulation(Simulatable) .

Overrides:

simulationSubTick in class SimulatedArena

isAmped

public boolean isAmped(boolean isBlue)

Returns wether the specified team currently has an amped speaker

This function returns true during autonomous since the autonomous mode behaves exactly like amplified game play.

Parameters:

isBlue - Wether to check the blue or red alliance.

Returns:

Wether the specified alliance is currently amplified.

addAmpCharge

public void addAmpCharge(boolean isBlue)

Adds a charge to the amp of the specified team. One charge is equal to one note in the amp so two charges are needed to use the amp.

Parameters:

isBlue - Wether the charge is added to the blue or red alliance.

activateAmp

public boolean activateAmp(boolean isBlue)

Activates the amp for the specified team.

Parameters:

isBlue - Wether to amplify for the blue or red team.

Returns:

Returns true if the amplification was successful and false if it was not.