Make a Simulation with Maple-Sim

[mmilunicmobile]

No description provided.

[mmilunicmobile]

This is basically a different approach for maple sim that instead of running the sim separately or in a different interface, just doesn't call sim drivetrain update

[mmilunicmobile]

Basically just for extra clarity, this is what that entails:

Use Maple-Sim as a layer on top of the base CTRE motor controllers. The sim motor classes should be used to get all information about how the motor will behave.

You should be able to treat the drivetrain completely normally basically.

Should also be able to be toggled on or off. (Probably off by default.)

[mmilunicmobile]

After a lot of work it looks like they updated maple-sim to actually properly work with CTRE.

https://github.com/Shenzhen-Robotics-Alliance/maple-sim/tree/main/templates/CTRE%20Swerve%20with%20maple-sim

This should be added as an option on top of normal sim that is disabled by default.