Package frc.robot.simulation

Class MapleSimSwerveDrivetrain.TalonFXMotorControllerWithRemoteCanCoderSim

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

  • 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
    TalonFXMotorControllerWithRemoteCanCoderSim(com.ctre.phoenix6.hardware.TalonFX talonFX, com.ctre.phoenix6.hardware.CANcoder cancoder)
    Constructs a TalonFX motor controller but with a cancoder sim.

  • Method Summary

    Modifier and Type
    Method
    Description
    int
    getEncoderID()
    Get the identifier of the encoder paired with this motor.
    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 frc.robot.simulation.MapleSimSwerveDrivetrain.TalonFXMotorControllerSim

    getId

    Methods inherited from class java.lang.Object

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

  • Constructor Details

    • TalonFXMotorControllerWithRemoteCanCoderSim

      public TalonFXMotorControllerWithRemoteCanCoderSim(com.ctre.phoenix6.hardware.TalonFX talonFX, com.ctre.phoenix6.hardware.CANcoder cancoder)
      Constructs a TalonFX motor controller but with a cancoder sim.
      Parameters:
      talonFX - motor to use
      cancoder - cancoder used for sim state

  • 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
      Overrides:
      updateControlSignal in class MapleSimSwerveDrivetrain.TalonFXMotorControllerSim

    • getEncoderID

      public int getEncoderID()
      Get the identifier of the encoder paired with this motor.
      Returns:
      the identifier of this sim motor