rrsim

Simulator for FRC 2022 challenge: Rapid React

Usage

In order to run the simulator use the following:

python3 rrsim.py [config_path]

where config_path is the path to the json configuration (default value is default_configs/config.json).

Configurations

In order to configure game, field and robots, a config JSON file must be created. See default_configs directory for examples of configurations. The following are parameters that can be defined in the configuration:

Per-robot parameters:

Field parameters:

Units for the values in the configurations can be seen in the units section.

In addition to the configuration JSON file, a cargo distribution CSV file is required. This file is basically a matrix of integers where every integer represents the probability (relative to the other integers) that a cargo will appear in the 1x1 meter square corresponding to that number in the matrix. A default distribution is supplied in the default_configs directory.

The Simulation

Once a configuration has been created (or selected) and the simulator was ran, A window will pop up which contains the actual simulator. This window consists of two sections. In the top - the field, in which robots are represented by squares and cargo by circles. In the bottom - the scoreboard, which is itself divided into three areas, from left to right - blue score, time since the beginning of the match, red score.

Units

rrsim uses the following units:

Planned Additions

• Ability to fast forward the simulation.
• Configurable cycle types for robots
  • Collect only from one side of the field
  • Play defence
  • Collect two balls at a time
  • Score to low hub
• Penalty for having many robots in the same place
  • Something like "work 10% slower for every robot in your immediate vicinity".

And here are some additions that are probably too overkill to bother with:

• Robot path planning