- FRC Game Manual
- FRC Game Q&A

# Drivetrain Simulation Tutorial

This is a tutorial for implementing a simulation model of your differential drivetrain using the simulation classes. Although the code that we will cover in this tutorial is framework-agnostic, there are two full examples available – one for each framework.

- `StateSpaceDifferentialDriveSimulation` (Java, C++) uses the command-based framework.

- `SimpleDifferentialDriveSimulation` (Java, C++) uses a more traditional approach to data flow.

Both of these examples are also available in the VS Code New Project window.

- Drivetrain Simulation Overview
- Step 1: Creating Simulated Instances of Hardware
- Step 2: Creating a Drivetrain Model
- Step 3: Updating the Drivetrain Model
- Step 4: Updating Odometry and Visualizing Robot Position