mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-20 00:51:41 +00:00
9bbf49bc6b
Add a quick-start guide to help answer more questions with fewer words. --------- Co-authored-by: Matt M <matthew.morley.ca@gmail.com>
43 lines
1.9 KiB
Markdown
43 lines
1.9 KiB
Markdown
# 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`.
|
|
|
|
```console
|
|
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
|
|
```
|
|
|
|
:::
|
|
|
|
```{image} images/coproc-client-to-desktop-sim.png
|
|
|
|
```
|
|
|
|
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.
|
|
|
|
```{image} images/hardware-in-the-loop-sim.png
|
|
|
|
```
|