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