Package org.ironmaple.simulation.seasonspecific.reefscape2025

Class ReefscapeReefSimulation

java.lang.Object

org.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefSimulation

All Implemented Interfaces:

SimulatedArena.Simulatable

public class ReefscapeReefSimulation
extends Object
implements SimulatedArena.Simulatable

Simulates the two REEFs on the field.

This class simulates the two REEFs on the field where CORALs can be scored. It includes all 12 ReefscapeReefBranchesTower instances on the field (both blue and red).

Constructor Summary

Constructors

Constructor	Description
ReefscapeReefSimulation(Arena2025Reefscape arena)

Method Summary

Modifier and Type	Method	Description
void	addCoralsOnReefForDisplay(List<Pose3d> coralPosesToDisplay)	Displays all the CORALs scored on the REEF.
void	clearReef()	Clears all the CORALs scored on the REEF.
int[][]	getBranches(DriverStation.Alliance side)	Obtains the amount of CORAL held on the BRANCHES.
static Optional<ReefscapeReefSimulation>	getInstance()	Returns an optional instance.
void	simulationSubTick(int subTickNum)	Called in SimulatedArena.Simulatable.simulationSubTick(int).

Methods inherited from class java.lang.Object

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

Constructor Details

ReefscapeReefSimulation

public ReefscapeReefSimulation(Arena2025Reefscape arena)

Method Details

simulationSubTick

public void simulationSubTick(int subTickNum)

Description copied from interface: SimulatedArena.Simulatable

Called in SimulatedArena.Simulatable.simulationSubTick(int).

Specified by:

simulationSubTick in interface SimulatedArena.Simulatable

Parameters:

subTickNum - the number of this sub-tick (counting from 0 in each robot period)

addCoralsOnReefForDisplay

public void addCoralsOnReefForDisplay(List<Pose3d> coralPosesToDisplay)

Displays all the CORALs scored on the REEF.

Parameters:

coralPosesToDisplay - a list of Pose3d objects used to visualize the positions of the CORALs on AdvantageScope

clearReef

public void clearReef()

Clears all the CORALs scored on the REEF.

getBranches

public int[][] getBranches(DriverStation.Alliance side)

Obtains the amount of CORAL held on the BRANCHES.

This method returns a 2D array of size 12 x 4, where each entry represents the number of CORALs held on a particular branch.

The BRANCHES are tracked in FMS as A, B, C, D, E, F, G, H, I, J, K, L (as per the game manual), and are mapped to indices 0, 1, 2, ... in the array.

The [i][j] entry in the array represents the number of CORAL(s) held on the Lj-1 branch in the ith section.

For example, getBranches()[2][3] returns the number of CORALs held on L4 of Branch C.

Note that L2, L3, and L4 can only hold one CORAL, while L1 can hold up to two CORALs.

Parameters:

side - the alliance side (Red or Blue) to check for CORAL counts

Returns:

a 2D array where each entry represents the number of CORAL held on each branch

getInstance

public static Optional<ReefscapeReefSimulation> getInstance()

Returns an optional instance.

Returns:

(optionally) an instance of this class, empty if