The packages¶

Seven 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.
`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 without contact physics.
`viz`	if you want to see it	Drawing a mechanism's pose into the log for AdvantageScope.

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.