How to simulate Bermuda

🧪 How to Simulate Bermuda (2025 Robot)

📦 1. Download Required Tools

AdvantageScope

• Download AdvantageScope v4.1.5

WPILib 2025

• Setup WPILib 2025

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🧰 2. Clone the 2025 Robot Code

1. Open WPILib 2025
2. Click Clone Git Repository
   
3. Paste this URL:
   https://github.com/Vortx3735/2025-Bot.git
4. Switch to the advantagekit branch
   

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🎛️ 3. Setup AdvantageScope

1. Set the game field to 2025 field
   • (Optional) Change graphics to high quality.
2. On the top menu: Help > Show Assets Folder
3. In the opened window, paste this folder:
   • 2025 Field Assets Folder
4. The folder should look like:
   
   (You don’t need soundbyte)

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▶️ 4. Start the Simulation

1. Open WPILib VSCode
2. Click the WPILib logo (top right)
   
3. Select Simulate Robot Code and check Use Sim GUI

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🔌 5. Connect AdvantageScope

1. Open AdvantageScope
2. Top right menu: File > Connect to Simulator

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📍 6. Publish the Robot Pose

1. Expand the dropdowns on the right:
   AdvantageKit > RealOutputs > FieldSimulation > RobotPosition
2. Drag RobotPosition to the center panel under “Poses”
   
   • If it says “2025 KitBot”, right-click and rename to bermuda

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🏗️ 7. Add Elevator & Wrist Poses

1. Under the dropdown: simulation
   
2. Drag the poses in this exact order onto the robot pose:
   • Elevator
     
     • If it’s not labeled “component”, right-click → Change to component
   • Then Carriage
   • Then WristPose
3. Final structure should look like:
   

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🍃 8. Add Game Pieces (Coral & Algae)

1. In the dropdowns:
   AdvantageKit > RealOutputs > FieldSimulation
2. Drag coral and algae to the Poses tab
   • Right-click → Change to correct game piece
     

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🎮 9. Enable Teleop Mode in Sim GUI

• Enable Teleop
• Make sure to assign your joysticks

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