From 851b647ff5b31ab1ffba00b7faa3ca8d5e75f35f Mon Sep 17 00:00:00 2001 From: SCool62 Date: Sun, 18 Jan 2026 16:16:39 -0800 Subject: [PATCH 1/4] Bump maple sim vendordep --- vendordeps/maple-sim.json | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/vendordeps/maple-sim.json b/vendordeps/maple-sim.json index 6596d65..aa65f46 100644 --- a/vendordeps/maple-sim.json +++ b/vendordeps/maple-sim.json @@ -1,7 +1,7 @@ { "fileName": "maple-sim.json", "name": "maplesim", - "version": "0.3.14", + "version": "0.4.0-beta", "frcYear": "2026", "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", "mavenUrls": [ @@ -13,7 +13,7 @@ { "groupId": "org.ironmaple", "artifactId": "maplesim-java", - "version": "0.3.14" + "version": "0.4.0-beta" }, { "groupId": "org.dyn4j", From 11120cd32d7480cd3e992705d34b4694d3dbe0e3 Mon Sep 17 00:00:00 2001 From: SCool62 Date: Sun, 18 Jan 2026 16:19:33 -0800 Subject: [PATCH 2/4] Extract evergreen arena to own class --- .../subsystems/swerve/module/ModuleIOSim.java | 3 ++- .../frc/robot/utils/maplesim/EvergreenArena.java | 15 +++++++++++++++ .../utils/{ => maplesim}/MaplePhoenixUtil.java | 2 +- 3 files changed, 18 insertions(+), 2 deletions(-) create mode 100644 src/main/java/frc/robot/utils/maplesim/EvergreenArena.java rename src/main/java/frc/robot/utils/{ => maplesim}/MaplePhoenixUtil.java (99%) diff --git a/src/main/java/frc/robot/subsystems/swerve/module/ModuleIOSim.java b/src/main/java/frc/robot/subsystems/swerve/module/ModuleIOSim.java index dad28f6..9af4c1b 100644 --- a/src/main/java/frc/robot/subsystems/swerve/module/ModuleIOSim.java +++ b/src/main/java/frc/robot/subsystems/swerve/module/ModuleIOSim.java @@ -5,7 +5,8 @@ import com.ctre.phoenix6.CANBus; import edu.wpi.first.units.measure.Angle; import frc.robot.subsystems.swerve.SwerveSubsystem; -import frc.robot.utils.MaplePhoenixUtil; +import frc.robot.utils.maplesim.MaplePhoenixUtil; + import org.ironmaple.simulation.drivesims.SwerveModuleSimulation; public class ModuleIOSim extends ModuleIOReal { diff --git a/src/main/java/frc/robot/utils/maplesim/EvergreenArena.java b/src/main/java/frc/robot/utils/maplesim/EvergreenArena.java new file mode 100644 index 0000000..d09f53d --- /dev/null +++ b/src/main/java/frc/robot/utils/maplesim/EvergreenArena.java @@ -0,0 +1,15 @@ +package frc.robot.utils.maplesim; + +import org.ironmaple.simulation.SimulatedArena; + +/** + * A maple sim arena with no collisions + */ +public class EvergreenArena extends SimulatedArena{ + public EvergreenArena() { + super(new FieldMap() {}); + } + + @Override + public void placeGamePiecesOnField() {} +} diff --git a/src/main/java/frc/robot/utils/MaplePhoenixUtil.java b/src/main/java/frc/robot/utils/maplesim/MaplePhoenixUtil.java similarity index 99% rename from src/main/java/frc/robot/utils/MaplePhoenixUtil.java rename to src/main/java/frc/robot/utils/maplesim/MaplePhoenixUtil.java index 2fda1f0..09b51f0 100644 --- a/src/main/java/frc/robot/utils/MaplePhoenixUtil.java +++ b/src/main/java/frc/robot/utils/maplesim/MaplePhoenixUtil.java @@ -11,7 +11,7 @@ // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the // GNU General Public License for more details. -package frc.robot.utils; +package frc.robot.utils.maplesim; import static edu.wpi.first.units.Units.Seconds; From f342fc95c488af153d505e32ebeb570df97ac2aa Mon Sep 17 00:00:00 2001 From: SCool62 Date: Sun, 18 Jan 2026 16:20:16 -0800 Subject: [PATCH 3/4] Remove evergreen arena from Robot, and use defualt (2026) field --- src/main/java/frc/robot/Robot.java | 17 ----------------- 1 file changed, 17 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 402b704..1bcaf6d 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -167,23 +167,6 @@ public enum RobotType { private final LoggedDashboardChooser autoChooser = new LoggedDashboardChooser<>("Autos"); - // Logged mechanisms - - // temporarily override map with empty map to avoid collisions swith reefscape elements - // unfortunately this also turns off collisions with walls but that's fine - // TODO update once rebuilt is added to maplesim - private static class EvergreenArena extends SimulatedArena { - protected EvergreenArena() { - super(new FieldMap() {}); - } - - @Override - public void placeGamePiecesOnField() {} - } - - static { - SimulatedArena.overrideInstance(new EvergreenArena()); - } @SuppressWarnings("resource") public Robot() { From 3a86ccb2262e0d6480124f415d517a3d0d5fac09 Mon Sep 17 00:00:00 2001 From: SCool62 Date: Fri, 30 Jan 2026 10:09:44 -0800 Subject: [PATCH 4/4] Spotless --- src/main/java/frc/robot/Robot.java | 2 -- .../subsystems/swerve/module/ModuleIOSim.java | 1 - .../frc/robot/utils/maplesim/EvergreenArena.java | 16 +++++++--------- 3 files changed, 7 insertions(+), 12 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 228c330..fa2cfbb 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -51,7 +51,6 @@ import frc.robot.utils.CommandXboxControllerSubsystem; import java.util.Optional; import java.util.Set; -import org.ironmaple.simulation.SimulatedArena; import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.LogFileUtil; import org.littletonrobotics.junction.LoggedRobot; @@ -185,7 +184,6 @@ public enum RobotEdition { @AutoLogOutput boolean haveAutosGenerated = false; private final LoggedDashboardChooser autoChooser = new LoggedDashboardChooser<>("Autos"); - // this is here because it doesn't like that the power distribution logger is never closed @SuppressWarnings("resource") public Robot() { diff --git a/src/main/java/frc/robot/subsystems/swerve/module/ModuleIOSim.java b/src/main/java/frc/robot/subsystems/swerve/module/ModuleIOSim.java index 9af4c1b..a249bc8 100644 --- a/src/main/java/frc/robot/subsystems/swerve/module/ModuleIOSim.java +++ b/src/main/java/frc/robot/subsystems/swerve/module/ModuleIOSim.java @@ -6,7 +6,6 @@ import edu.wpi.first.units.measure.Angle; import frc.robot.subsystems.swerve.SwerveSubsystem; import frc.robot.utils.maplesim.MaplePhoenixUtil; - import org.ironmaple.simulation.drivesims.SwerveModuleSimulation; public class ModuleIOSim extends ModuleIOReal { diff --git a/src/main/java/frc/robot/utils/maplesim/EvergreenArena.java b/src/main/java/frc/robot/utils/maplesim/EvergreenArena.java index d09f53d..d3d0e69 100644 --- a/src/main/java/frc/robot/utils/maplesim/EvergreenArena.java +++ b/src/main/java/frc/robot/utils/maplesim/EvergreenArena.java @@ -2,14 +2,12 @@ import org.ironmaple.simulation.SimulatedArena; -/** - * A maple sim arena with no collisions - */ -public class EvergreenArena extends SimulatedArena{ - public EvergreenArena() { - super(new FieldMap() {}); - } +/** A maple sim arena with no collisions */ +public class EvergreenArena extends SimulatedArena { + public EvergreenArena() { + super(new FieldMap() {}); + } - @Override - public void placeGamePiecesOnField() {} + @Override + public void placeGamePiecesOnField() {} }