Package org.ironmaple.simulation.seasonspecific.rebuilt2026

Class RebuiltOutpost

java.lang.Object

org.ironmaple.simulation.Goal

org.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltOutpost

All Implemented Interfaces:

SimulatedArena.Simulatable

public class RebuiltOutpost
extends Goal

Simulates a OUTPOSTs on the field.

This class simulates a outpost on the field where fuel can be scored. It has a store of fuel which can be added too by scoring in it. This fuel can then be dumped via dump() or Arena2026Rebuilt.outpostDump(boolean), thrown at the goal via throwForGoal() or Arena2026Rebuilt.outpostThrowForGoal(boolean), or thrown with specific parameters via throwFuel(Rotation2d, Angle, LinearVelocity) or Arena2026Rebuilt.outpostThrow(boolean, Rotation2d, Angle, LinearVelocity),

Nested Class Summary

Nested classes/interfaces inherited from class org.ironmaple.simulation.Goal

Goal.PositionChecker, Goal.RotationChecker

Field Summary

Fields

Modifier and Type	Field	Description
protected Arena2026Rebuilt	arena
protected static final Translation3d	blueDumpPose
protected static final Translation3d	blueLaunchPose
protected static final Translation3d	blueOutpostPose
protected static final Translation3d	blueRenderPose
protected static final Translation3d	redDumpPose
protected static final Translation3d	redLaunchPose
protected static final Translation3d	redOutpostPose
protected static final Translation3d	redRenderPose

Fields inherited from class org.ironmaple.simulation.Goal

allowGrounded, elevation, gamePieceCount, gamePieceType, height, isBlue, max, position, positionChecker, rotationChecker, velocityValidator, xyBox

Constructor Summary

Constructors

Constructor	Description
RebuiltOutpost(Arena2026Rebuilt arena, boolean isBlue)	Creates an outpost of the specified color.

Method Summary

Modifier and Type	Method	Description
protected void	addPoints()	Adds Points When a Piece Has Been Successfully Scored in This Goal
void	draw(List<Pose3d> drawList)	Displays Game Pieces to AdvantageScope if Applicable
void	dump()	Dumps game pieces from the specified outpost.
void	reset()	Resets the outposts internal fuel counter too 24.
void	simulationSubTick(int subTickNum)	Handles the update triggers for the goal object.
void	throwForGoal()	Attempts too throw a game piece at the specified goal.
void	throwFuel(Rotation2d yaw, Angle pitch, LinearVelocity speed)	Throws a game piece from the outpost at the specified angle and speed.

Methods inherited from class org.ironmaple.simulation.Goal

absoluteAngle, anyRotation, box, checkCollision, checkGrounded, checkValidity, clear, flipRotation, getGamePieceCount, isFull, pitchOnly, setNeededAngle, setNeededAngle, withCustomCollisionPredicate, withCustomPositionChecker, withCustomRotationChecker, withCustomRotationValidator, withCustomVelocityValidator, withRotationTolerance

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

redOutpostPose

protected static final Translation3d redOutpostPose

redLaunchPose

protected static final Translation3d redLaunchPose

redDumpPose

protected static final Translation3d redDumpPose

blueOutpostPose

protected static final Translation3d blueOutpostPose

blueDumpPose

protected static final Translation3d blueDumpPose

blueLaunchPose

protected static final Translation3d blueLaunchPose

redRenderPose

protected static final Translation3d redRenderPose

blueRenderPose

protected static final Translation3d blueRenderPose

arena

protected Arena2026Rebuilt arena

Constructor Details

RebuiltOutpost

public RebuiltOutpost(Arena2026Rebuilt arena,
 boolean isBlue)

Creates an outpost of the specified color.

Parameters:

arena - The host arena of this outpost.

isBlue - Wether this is the blue outpost or the red one.

Method Details

addPoints

protected void addPoints()

Description copied from class: Goal

Adds Points When a Piece Has Been Successfully Scored in This Goal

Since this function is the only trigger called when a piece is scored it may handle other small things outside of adding points.

Specified by:

addPoints in class Goal

simulationSubTick

public void simulationSubTick(int subTickNum)

Description copied from class: Goal

Handles the update triggers for the goal object.

Specified by:

simulationSubTick in interface SimulatedArena.Simulatable

Overrides:

simulationSubTick in class Goal

Parameters:

subTickNum - the number of this sub-tick (counting from 0 in each robot period)

draw

public void draw(List<Pose3d> drawList)

Description copied from class: Goal

Displays Game Pieces to AdvantageScope if Applicable

Specified by:

draw in class Goal

Parameters:

drawList - a list of Pose3d objects used to visualize the positions of the game pieces on AdvantageScope

reset

public void reset()

Resets the outposts internal fuel counter too 24.

throwForGoal

public void throwForGoal()

Attempts too throw a game piece at the specified goal.

This method comes with variance built in (to simulate human inconsistency) and will therefore only hit about half the time. Additionally if the hub does not have game pieces stored this method will not do anything. If you would like to manually control how the human player throws game pieces use #outpostThrow(boolean, Rotation2d, Angle, LinearVelocity)

dump

public void dump()

Dumps game pieces from the specified outpost.

This function will dump up to 24 game pieces, dependent on how many game pieces are currently stored in the outpost. For more manual control of the game pieces in the outpost use #outpostThrow(boolean, Rotation2d, Angle, LinearVelocity). To have a human player attempt to throw a game piece into the hub use #outpostThrowForGoal(boolean).

throwFuel

public void throwFuel(Rotation2d yaw,
 Angle pitch,
 LinearVelocity speed)

Throws a game piece from the outpost at the specified angle and speed.

This method comes with variance built in (to simulate human inconsistency). Additionally if the hub does not have game pieces stored this method will not do anything. If you would like to have the human player throw at the hub use #outpostThrowForGoal(boolean)

Parameters:

throwYaw - The yaw at which too throw the ball.

throwPitch - The pitch at which too throw the ball.