Simulation & Playback

Simulation & Playback

Visualize your robot’s path with a physics-based simulation. This tool helps you verify timing, check for collisions, and ensure smooth motion before running code on the real robot.

Playback Controls

Located at the bottom of the screen, the control bar manages the simulation:

• Play/Pause: Start or stop the animation. (Shortcut: Space)
• Timeline Scrubbing: Drag the slider to jump to any point in the path.
• Speed Control: Adjust playback speed from 0.25x (slow motion) to 3.0x (fast forward).
• Loop: Toggle continuous looping of the animation.

Visual Aids

Enable these overlays in Settings to better understand robot behavior:

• Onion Skinning: Displays a trail of robot bodies at regular intervals. Helps visualize how the robot rotates and moves through complex curves.
• Velocity Heatmap: Colors the path line based on speed.
  • Green: Slow movement or stopping.
  • Red: Fast movement.

Physics & Accuracy

The simulation uses your robot’s configured constraints to predict real-world performance:

• Kinematics: Accurately models holonomic (omni-directional) movement.
• Velocity Limits: Respects the Max Velocity and Angular Velocity settings.
• Acceleration: Accounts for Max Acceleration to predict realistic travel times.

Verification Tools

Ensure your path is safe and efficient:

• Collision Detection: Potential collisions with field boundaries or defined obstacles are marked with warning indicators. Learn more about Path Validation.
• Real-time Feedback: The “Current Robot Position” panel displays live X/Y coordinates and heading during playback.
• Event Markers: Visual dots on the timeline show exactly when events (like “Intake” or “Shoot”) will trigger. Learn more about Event Markers.

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Tip: Use the Stats button to see the total estimated duration and distance of your routine.