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Add a quick-start guide to help answer more questions with fewer words. --------- Co-authored-by: Matt M <matthew.morley.ca@gmail.com>
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Hardware In The Loop Simulation
Hardware in the loop simulation is using a physical device, such as a supported co-processor running PhotonVision, to enhance simulation capabilities. This is useful for developing and validating code before the camera is attached to a robot, as well as reducing the work required to use WPILib simulation with PhotonVision.
Before continuing, ensure PhotonVision is installed on your device. Instructions can be found {ref}here <docs/advanced-installation/index:Advanced Installation> for all devices.
Your coprocessor and computer running simulation will have to be connected to the same network, like a home router. Connecting the coprocessor directly to the computer will not work.
To simulate with hardware in the loop, a one-line change is required. From the PhotonVision UI, go to the sidebar and select the Settings option. Within the Networking settings, find "Team Number/NetworkTables Server Address".
During normal robot operation, a team's number would be entered into this field so that the PhotonVision coprocessor connects to the roboRIO as a NT client. Instead, enter the IP address of your computer running the simulation here.
:::{note}
To find the IP address of your Windows computer, open command prompt and run ipconfig.
C:/Users/you>ipconfig
Windows IP Configuration
Ethernet adapter Ethernet:
Connection-specific DNS Suffix . : home
Link-local IPv6 Address . . . . . : fe80::b41d:e861:ef01:9dba%10
IPv4 Address. . . . . . . . . . . : 192.168.254.13
Subnet Mask . . . . . . . . . . . : 255.255.255.0
Default Gateway . . . . . . . . . : 192.168.254.254
:::
No code changes are required, PhotonLib should function similarly to normal operation.
Now launch simulation, and you should be able to see the PhotonVision table on your simulation's NetworkTables dashboard.