[FEATURE] Elevator Simulation

[skrunked]

Description:

At present, we are able to simulate the drivetrain, allowing us to run some level of driver practice or troubleshooting without access to the physical robot. To emulate cycling and get accurate driver/operator practice in, we must also simulate the other subsystems, starting with the elevator.

For reference, our elevator contains (verify this with mechanical):

• a REV NEO Brushless motor with a 15:1 reduction
• Theoretically 23lbs of carriage weight (may or may not include the intake?)
• Drum radius of maybe 0.0222m (pitch radius of the elevator's sprocket, Programmer Guesstimated Edition)
• Maximum carriage height of 1.328m, minimum of... 0m

Type:

• New Feature
• Improvement to Existing Feature

Category:

• Software
• Controls/Mechanism
• Controllers/Buttons/Human Interface
• UI/Dashboard
• Logging

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Urgency

• Nice to Have
• Important
• Critical

Impacted Modes:

• Disabled
• Teleop
• Auto
• Simulation

Impacted Systems:

• Drive
• Vision
• Autonomous
• Logging
• Mechanism(s): Elevator

When?

• Periodic
• Init
• Command

File(s) of Focus:

• ElevatorSystem.java or consider making separate subsystem for simulation
• Robot.java and/or RobotContainer.java

Resources:

• https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.html
• https://docs.wpilib.org/en/stable/docs/software/wpilib-tools/robot-simulation/physics-sim.html
• https://docs.revrobotics.com/revlib/spark/sim/simulation-getting-started
• https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
• https://www.yamgen.com/

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No relevant media, at least not currently.