20260626-0311-17.9380378.mov

FTCodesim runs your existing FTC code without a physical robot.

Features

• Line-by-line debugging with breakpoints
• Simulated mecanum drive using per-wheel motor acceleration models fit from real-world data
• Live TeleOp input from a local keyboard or controller
• Emulated Driver Station with OpMode selection, init, start, stop, and telemetry
• Fake hardware layer that runs existing FTC code without modifying your OpModes
• Motor modeling and trajectory simulation for testing motor models, controllers, and robot behavior against real data

How it works

The simulator sends live robot data to AdvantageScope for visualization and connects to a local Driver Station application over a socket. The Driver Station provides gamepad input, OpMode controls, and telemetry, allowing existing FTC code to run in a fully simulated environment.

Usage

1. To the repositories block in build.dependencies.gradle add:

repositories {
    mavenCentral()
    google()
    
    maven {
        url = uri("https://www.jitpack.io")
    }
    maven {
        url = uri("https://repo.dairy.foundation/releases")
    }
    maven {
        url = uri("https://repo.dairy.foundation/snapshots")
    }
}

And to the dependencies block add:

dependencies {
    implementation "org.codeblooded.ftcodesim:Simulator:SNAPSHOT-9cb1d09"
    testImplementation "junit:junit:4.13.2"
}

2. Check out the Examples module and run a simulation on your code like SimulateCodeBloodedDecode
3. Once your code is running and you see the Driver Station Window, open Advantage Scope and Connect to Simulator -> RLOG Server

Looking for help with

• Anyone interested in collaborating or working on a similar project
• Ball physics and collision detection
• Improving the Driver Station UI
• New features or ideas
• Cleaning up packaging/distribution
• Driver practice support with intaking, shooting, and scoring