Check if robot is sim before updating sim 1b

examples/stage1/stage1b/snippets/src/main/java/sources/CommandBasedKitbot.java

@@ -10,6 +10,7 @@
 import org.wpilib.command3.Scheduler;
 import org.wpilib.command3.button.CommandXboxController;
 import org.wpilib.framework.OpModeRobot;
+import org.wpilib.framework.RobotBase;
 import org.wpilib.opmode.PeriodicOpMode;
 
 class CommandBasedKitbot {
@@ -48,7 +49,9 @@ public MyTeleop(Robot robot) {
   private final SingleFlywheelSim sim = new SingleFlywheelSim(motor, "Feeder"); // Create a flywheel simulation
 
   public void periodic() { // Update the simulation
-    sim.periodic();
+    if (RobotBase.isSimulation()) {
+      sim.periodic();
+    }
   }
   // [/feederSim]
 

examples/stage1/stage1b/solutions/ctre/src/main/java/first/robot/mechanisms/Drivetrain.java

@@ -16,6 +16,7 @@
 import org.wpilib.command3.Command;
 import org.wpilib.command3.Mechanism;
 import org.wpilib.drive.DifferentialDrive;
+import org.wpilib.framework.RobotBase;
 import org.wpilib.hardware.imu.OnboardIMU;
 import org.wpilib.hardware.imu.OnboardIMU.MountOrientation;
 
@@ -69,6 +70,8 @@ public Command arcadeDrive(DoubleSupplier forwardThrottle, DoubleSupplier rotati
   }
 
   public void periodic() {
-    drivetrainSim.periodic();
+    if (RobotBase.isSimulation()) {
+      drivetrainSim.periodic();
+    }
   }
 }

examples/stage1/stage1b/solutions/ctre/src/main/java/first/robot/mechanisms/Feeder.java

@@ -10,6 +10,7 @@
 import first.robot.simulation.SingleFlywheelSim;
 import org.wpilib.command3.Command;
 import org.wpilib.command3.Mechanism;
+import org.wpilib.framework.RobotBase;
 
 public class Feeder implements Mechanism {
   private final TalonFX motor = new TalonFX(5, CANBus.systemcore(0));
@@ -60,6 +61,8 @@ public Command idle() {
   }
 
   public void periodic() {
-    sim.periodic();
+    if (RobotBase.isSimulation()) {
+      sim.periodic();
+    }
   }
 }

examples/stage1/stage1b/solutions/ctre/src/main/java/first/robot/mechanisms/IntakeLauncher.java

@@ -12,6 +12,7 @@
 import first.robot.simulation.SingleFlywheelSim;
 import org.wpilib.command3.Command;
 import org.wpilib.command3.Mechanism;
+import org.wpilib.framework.RobotBase;
 
 public class IntakeLauncher implements Mechanism {
   private final TalonFX motor = new TalonFX(4, CANBus.systemcore(0));
@@ -63,6 +64,8 @@ public Command idle() {
   }
 
   public void periodic() {
-    sim.periodic();
+    if (RobotBase.isSimulation()) {
+      sim.periodic();
+    }
   }
 }

src/content/docs/learning-course/stage1/stage1b/command-based-kitbot.mdx

@@ -160,6 +160,7 @@ to allow for simulation to work:
 ```
 
 This code creates a `SingleFlywheelSim` object named `sim` that simulates the feeder by representing it as a single spinning flywheel, then updates the simulation in `sim.periodic()`.
+The code checks if it is being simulated before updating the sim so the simulation code is not run when the robot is real.
 
 ### Task 3: The IntakeLauncher Mechanism