Package frc.robot.simulation

Class MapleSimSwerveDrivetrain.TalonFXMotorControllerSim

java.lang.Object
frc.robot.simulation.MapleSimSwerveDrivetrain.TalonFXMotorControllerSim
All Implemented Interfaces:
org.ironmaple.simulation.motorsims.SimulatedMotorController
Direct Known Subclasses:
MapleSimSwerveDrivetrain.TalonFXMotorControllerWithRemoteCanCoderSim
Enclosing class:
MapleSimSwerveDrivetrain
public static class MapleSimSwerveDrivetrain.TalonFXMotorControllerSim extends Object implements org.ironmaple.simulation.motorsims.SimulatedMotorController

  • Nested Class Summary

    Nested classes/interfaces inherited from interface org.ironmaple.simulation.motorsims.SimulatedMotorController

    org.ironmaple.simulation.motorsims.SimulatedMotorController.GenericMotorController

  • Constructor Summary

    Constructors
    Constructor
    Description
    TalonFXMotorControllerSim(com.ctre.phoenix6.hardware.TalonFX talonFX)
    Constructs a TalonFX MotorController which uses it's sim state.

  • Method Summary

    Modifier and Type
    Method
    Description
    int
    getId()
    Gets the Id of this talonfx motor controller.
    edu.wpi.first.units.measure.Voltage
    updateControlSignal(edu.wpi.first.units.measure.Angle mechanismAngle, edu.wpi.first.units.measure.AngularVelocity mechanismVelocity, edu.wpi.first.units.measure.Angle encoderAngle, edu.wpi.first.units.measure.AngularVelocity encoderVelocity)
     

    Methods inherited from class java.lang.Object

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

  • Constructor Details

    • TalonFXMotorControllerSim

      public TalonFXMotorControllerSim(com.ctre.phoenix6.hardware.TalonFX talonFX)
      Constructs a TalonFX MotorController which uses it's sim state.
      Parameters:
      talonFX -

  • Method Details

    • updateControlSignal

      public edu.wpi.first.units.measure.Voltage updateControlSignal(edu.wpi.first.units.measure.Angle mechanismAngle, edu.wpi.first.units.measure.AngularVelocity mechanismVelocity, edu.wpi.first.units.measure.Angle encoderAngle, edu.wpi.first.units.measure.AngularVelocity encoderVelocity)
      Specified by:
      updateControlSignal in interface org.ironmaple.simulation.motorsims.SimulatedMotorController

    • getId

      public int getId()
      Gets the Id of this talonfx motor controller.
      Returns:
      the id of the talonfx motor controller