Simulate FIRST Robotics Competition (FRC) robots in the Webots robot simulator.

We (Team 199, Deep Blue) are actively developing it. It is working for us, but the implementation is still changing rapidly.

See the issues for likely changes in the near future.

Works on Windows, MacOS, and Linux.

Works with Java WPILib projects and (probably) C++ WPILib projects because it takes advantage of the WPILib's WebSockets server desktop simulation extension.

1. Install Webots if you don't already have it installed.
2. Add the DeepBlueSim Gradle plugin to your build.gradle by adding the following line in your plugins section:

    id "org.team199.deepbluesim" version "0.0.12"

1. In VSCode run the WPILib: Create a new project command and create the example project.
2. Add the DeepBlueSim Gradle plugin to the build.gradle as described above.
3. In VSCode run the WPILib: Simulate Robot Code on Desktop command and select both libhalsim_gui and libhalsim_ws_server as the extensions to use.
4. Start Webots and open your_example_project/Webots/worlds/DBSExample.wbt
5. In the HALSim GUI, select Autonomous to see the robot drive forward for 2 seconds, or select Teleop and use the keyboard on joystick to drive the robot around.