Package frc.spectrumLib.sim

Class ArmSim

java.lang.Object

frc.spectrumLib.sim.ArmSim

All Implemented Interfaces:

Mount, Mountable

public class ArmSim
extends Object
implements Mount, Mountable

Nested Class Summary

Nested classes/interfaces inherited from interface frc.spectrumLib.sim.Mount

Mount.MountType

Constructor Summary

Constructors

Constructor	Description
ArmSim(ArmConfig config, edu.wpi.first.wpilibj.smartdashboard.Mechanism2d mech, com.ctre.phoenix6.sim.TalonFXSimState armMotorSim, String name)

Method Summary

Modifier and Type	Method	Description
double	getAngle()
double	getAngleRads()
ArmConfig	getConfig()
double	getDisplacementX()
double	getDisplacementY()
Mount.MountType	getMountType()
double	getMountX()
double	getMountY()
void	simulationPeriodic()

Methods inherited from class java.lang.Object

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

Methods inherited from interface frc.spectrumLib.sim.Mountable

getUpdatedX, getUpdatedX, getUpdatedX, getUpdatedX, getUpdatedY, getUpdatedY, getUpdatedY, getUpdatedY

Constructor Details

ArmSim

public ArmSim(ArmConfig config,
 edu.wpi.first.wpilibj.smartdashboard.Mechanism2d mech,
 com.ctre.phoenix6.sim.TalonFXSimState armMotorSim,
 String name)

Method Details

simulationPeriodic

public void simulationPeriodic()

getAngleRads

public double getAngleRads()

getDisplacementX

public double getDisplacementX()

Specified by:

getDisplacementX in interface Mount

getDisplacementY

public double getDisplacementY()

Specified by:

getDisplacementY in interface Mount

getAngle

public double getAngle()

Specified by:

getAngle in interface Mount

getMountX

public double getMountX()

Specified by:

getMountX in interface Mount

getMountY

public double getMountY()

Specified by:

getMountY in interface Mount

getConfig

public ArmConfig getConfig()

getMountType

public Mount.MountType getMountType()

Specified by:

getMountType in interface Mount