The packages¶

Thirteen packages, and you will touch four of them on your first day. Each page below says what the package is for, which types you actually use, the units and frame every number is in, and, at the bottom, what that package will not do.

Package	You touch it	What it is
`fakehardware`	immediately	The fake devices your robot code resolves instead of real ones.
`plant`	immediately	The physics behind those fakes.
`config`	immediately	The interfaces you implement to give the plants your robot's numbers.
`sim`	immediately	The clock, the scenario runner, and reading a log back.
`opmode`	to run an OpMode as written	Runs your `OpMode` or `LinearOpMode` unchanged, with scripted gamepads.
`simclock`	if your timers read the real clock	Moves your `ElapsedTime`, `sleep` and `System.nanoTime()` onto sim time.
`sim.live`	to drive it yourself	Keyboard driving, recorded tracks, replay to the same log.
`loop`	once you score runs	Turning a log into a number, with guardrails on what may not get worse.
`field`	if you model game pieces	Possession, game-piece physics, goals, field structures.
`sensor`	if you use touch, distance or colour sensors	What a sensor on the robot sees or touches on the field.
`vision`	if you use a camera	Which pieces and AprilTags a camera sees, and where. Synthetic frames for pixel pipelines, not photos.
`fit`	once you have a real robot log	Fits the motor model to the log and reports the sim-against-robot gap.
`viz`	if you want to see it	Mechanisms, robot parts and shot arcs drawn into the log for AdvantageScope.

The keyboard window for live driving is a separate, unpublished module; sim.live says how to use it.

How they fit together¶

your robot code
      |  resolves devices by name
      v
FakeHardwareMap  ->  fakehardware  (FakeMotor is a DcMotorEx)
                          ^
                          |  reads the commanded power
                       plant       (Mechanism1DofPlant moves)
                          ^
                          |  takes its numbers from
                       config      (MechanismSimConfig - YOUR implementation)

  all of it ticked by:  sim  (FakeTimer + ScenarioRunner)  ->  an RLOG
                                                                  |
                                                                  v
                                                    loop  (RunResult, Scorer)

The arrow that never reverses is the one into config: SimLoop reads your numbers through an interface you implement, and never imports anything of yours.

The generated reference¶

Every class, method and field — with units and frame on every number — is in the javadoc:

./gradlew :SimLoop:apiDocs

It is written to SimLoop/build/docs/apiDocs/index.html, and it ships in every release as SimLoop-<version>-javadoc.jar. It is generated with doclint on and warnings fatal, so a public method without a comment fails the build rather than reaching you undocumented.