Package frc.robot.simulation

Class MapleSimSwerveDrivetrain

java.lang.Object
frc.robot.simulation.MapleSimSwerveDrivetrain
public class MapleSimSwerveDrivetrain extends Object
Injects Maple-Sim simulation data into a CTRE swerve drivetrain. This class retrieves simulation data from Maple-Sim and injects it into the CTRE SwerveDrivetrain instance.

  • Constructor Details

    • MapleSimSwerveDrivetrain

      public MapleSimSwerveDrivetrain(SimSwerveDrivetrainConfig config)
      Constructs a MapleSimSwerveDrivetrain with specified config.
      Parameters:
      config - the config to apply

  • Method Details

    • getDriveSimulation

      public org.ironmaple.simulation.drivesims.SwerveDriveSimulation getDriveSimulation()
      Gets the SwerveModuleSimulation injected into the SwerveDrivetrain.
      Returns:
      the swerveModuleSimulation of this drivetrain

    • resetSimulationPose

      public void resetSimulationPose()
      Resets simulation pose.

    • update

      public void update()
      Update the simulation. Updates the Maple-Sim simulation and injects the results into the simulated CTRE devices, including motors and the IMU.

    • regulateModuleConstantsForSimulation

      public static com.ctre.phoenix6.swerve.SwerveModuleConstants<?,?,?>[] regulateModuleConstantsForSimulation(com.ctre.phoenix6.swerve.SwerveModuleConstants<?,?,?>[] moduleConstants)
      Regulates all SwerveModuleConstants for a drivetrain simulation. This method processes an array of SwerveModuleConstants to apply necessary adjustments for simulation purposes, ensuring compatibility and avoiding known bugs.
      Parameters:
      moduleConstants - unregulated moduleConstants for each swerve module
      Returns:
      regulated swerve module constants as per sim requirements
      See Also:
      • regulateModuleConstantForSimulation(SwerveModuleConstants)