WHOOPsim

2D VEX drivetrain simulator.

Run it locally

You need Node.js (18+).

npm install      # install dependencies (do this once)
npm run dev      # start the dev server with hot reload

Then open the URL Vite prints:

http://localhost:5173/WHOOPsim/

Build & deploy

npm run build
npm run deploy

Controls

Key	Action
W / S	Throttle (forward / back)
A / D	Turn (tank) / Strafe (mecanum)
← / →	Strafe (tank) / Turn (mecanum)
1 / 2	Decrease / increase max velocity
3 / 4	Decrease / increase lateral time constant
5 / 6	Decrease / increase angular time constant
R	Toggle tank / mecanum drive
F	Cycle field background
H	Toggle telemetry overlay

VEX controller is also supported (left stick = throttle/strafe, right stick = turn).

Project layout

File	Responsibility
src/main.ts	Entry point: constructs the robot, owns the render/update loop
src/robot.ts	The Robot class — physics, odometry, and canvas rendering
src/control.ts	Keyboard/controller input → drive commands; menu keybinds
src/field.ts	Field background image + (optional) obstacle rectangles
src/globals.ts	Canvas, drawing context, scale constants, shared settings
src/util.ts	Math + coordinate helpers (inches ↔ pixels, deg ↔ rad, etc.)

Coordinate conventions

• Origin is the center of the field; units are inches, range roughly -72..72.
• +X is right, +Y is up (toward the top of the screen).
• Heading is in degrees, 0 = facing +Y (up), increasing clockwise (so forward = (sin θ, cos θ)).
• dt passed into drive methods is in seconds (~1/60 per frame).
• Robot.maxSpeed is in ft/s; internal velocities are converted to in/s (× 12).