2025 Reefscape Simulation

CORAL and ALGAE on the Field

CORAL and ALGAE can be added to the field as game pieces:

SimulatedArena.getInstance().addGamePiece(new ReefscapeCoral(
    // We must specify a heading since the coral is a tube
    new Pose2d(2, 2, Rotation2d.fromDegrees(90))));

SimulatedArena.getInstance().addGamePiece(new ReefscapeAlgaeOnField(new Translation2d(2,2)));

You can visualize them by calling:

Logger.recordOutput("FieldSimulation/Algae", 
    SimulatedArena.getInstance().getGamePiecesArrayByType("Algae"));
Logger.recordOutput("FieldSimulation/Coral", 
    SimulatedArena.getInstance().getGamePiecesArrayByType("Coral"));

And display the data in AdvantageScope:

Detailed Documents on Game Pieces Simulation

Adding Game Pieces to the Field

Visualizing Game Pieces

The CORAL-ALGAE Stack

CORAL are staged on the field with ALGAE on top. You can place these stacks on the field:

SimulatedArena.getInstance().addGamePiece(new ReefscapeCoralAlgaeStack(new Translation2d(2,2)));

Or reset the layout by performing a field reset:

SimulatedArena.getInstance().resetFieldForAuto();

Tip

When you display CORAL and ALGAE using the method specified above, the CORAL and ALGAE in the stacks will also be displayed.

Tip

Stacks will collapse and become a CORAL and ALGAE on the field if you hit them:

Interacting with CORAL and ALGAE

Users can use IntakeSimulation to simulate the interaction between robot intakes and the game pieces.

this.intakeSimulation = IntakeSimulation.OverTheBumperIntake(
        // Specify the type of game pieces that the intake can collect
        "Coral",
        // Specify the drivetrain to which this intake is attached
        driveTrainSimulation,
        // Width of the intake
        Meters.of(0.4),
        // The extension length of the intake beyond the robot's frame (when activated)
        Meters.of(0.2),
        // The intake is mounted on the back side of the chassis
        IntakeSimulation.IntakeSide.BACK,
        // The intake can hold up to 1 note
        1);

Detailed Documents on IntakeSimulation

Simulating Intake

Tip

• If your IntakeSimulation is targeted to CORAL, it will also be able to grab the CORAL from the CORAL-ALGAE stack. And the ALGAE will fall to the ground as the CORAL disapear.
• Vise versa, if your IntakeSimulation is targeted to ALGAE, it will also be able to grab the ALGAE from the CORAL-ALGAE stack. And the CORAL will fall to the ground as the ALGAE disapear.

Launching ALGAE into the air

ALGAE can be launched into the air, and the simulation will detect if it reaches its target—the NET.

ReefscapeAlgaeOnFly.setHitNetCallBack(() -> System.out.println("ALGAE hits NET!"));
SimulatedArena.getInstance()
    .addGamePieceProjectile(new ReefscapeAlgaeOnFly(
        driveSimulation.getSimulatedDriveTrainPose().getTranslation(),
        new Translation2d(),
        driveSimulation.getDriveTrainSimulatedChassisSpeedsFieldRelative(),
        driveSimulation.getSimulatedDriveTrainPose().getRotation(),
        0.4, // initial height of the ball, in meters
        9, // initial velocity, in m/s
        Math.toRadians(70)) // shooter angle
        .withProjectileTrajectoryDisplayCallBack(
            (poses) -> Logger.recordOutput("successfulShotsTrajectory", poses.toArray(Pose3d[]::new)),
            (poses) -> Logger.recordOutput("missedShotsTrajectory", poses.toArray(Pose3d[]::new))));

See Simulating Projectiles.

Scoring CORAL on REEF

You can eject a CORAL from your scoring mechanism during simulation. If a CORAL ejected into the air is in contact with a BRANCH at the correct angle, it will be attached to that branch. Maple-Sim will automatically detect the contact and simulate the scoring process (requires v0.3.3 or above).

Scoring on L3 branchScoring on L4 branch

SimulatedArena.getInstance()
    .addGamePieceProjectile(new ReefscapeCoralOnFly(
        // Obtain robot position from drive simulation
        driveSimulation.getSimulatedDriveTrainPose().getTranslation(),
        // The scoring mechanism is installed at (0.46, 0) (meters) on the robot
        new Translation2d(0.35, 0),
        // Obtain robot speed from drive simulation
        driveSimulation.getDriveTrainSimulatedChassisSpeedsFieldRelative(),
        // Obtain robot facing from drive simulation
        driveSimulation.getSimulatedDriveTrainPose().getRotation(),
        // The height at which the coral is ejected
        Meters.of(1.28),
        // The initial speed of the coral
        MetersPerSecond.of(2),
        // The coral is ejected at a 35-degree slope
        Degrees.of(-35)));

SimulatedArena.getInstance()
    .addGamePieceProjectile(new ReefscapeCoralOnFly(
        // Obtain robot position from drive simulation
        driveSimulation.getSimulatedDriveTrainPose().getTranslation(),
        // The scoring mechanism is installed at (0.46, 0) (meters) on the robot
        new Translation2d(0.46, 0),
        // Obtain robot speed from drive simulation
        driveSimulation.getDriveTrainSimulatedChassisSpeedsFieldRelative(),
        // Obtain robot facing from drive simulation
        driveSimulation.getSimulatedDriveTrainPose().getRotation(),
        // The height at which the coral is ejected
        Meters.of(2.1),
        // The initial speed of the coral
        MetersPerSecond.of(1),
        // The coral is ejected vertically downwards
        Degrees.of(-90)));

Info

CORALs that miss the target will be dropped on the floor:

Info

CORALs that fall on the TROUGH will remain on the trough:

Info

To score a CORAL on a BRANCH, it must:

• Be in contact with the BRANCH.
• Be aligned with the direction of the BRANCH.
• Be moving in the correct direction (i.e., if the coral is moving upwards, it cannot score).

To obtain the amount of corals scored on each branch, use:

Optional<ReefscapeReefSimulation> reefSimulation = ReefscapeReefSimulation.getInstance();
int amountOfCoralsOnBranch_G_L4 = 0;
if (reefSimulation.isPresent()) {
    amountOfCoralsOnBranch_G_L4 = reefSimulation.get().getBranches()
        [6] // branch G
        [3]; // L4
}

See the javadocs for more info.