Class SimLoop

java.lang.Object

frc.spectrumLib.sim.SimLoop

public final class SimLoop
extends Object

Shared high-frequency simulation loop. Mechanism sims register a step callback and are driven from a single Notifier thread far faster than the 50 Hz main loop, so the simulated TalonFX closed loops advance close to their real ~1 kHz cadence and PID gains behave like hardware. This mirrors the swerve drivetrain's sim thread.

Sim-only: registration is a no-op on real hardware, so no thread is started on the roboRIO.

Method Summary

Modifier and Type	Method	Description
static void	register(DoubleConsumer step)	Registers a step callback, invoked with the real elapsed time (seconds) since the previous tick.

Methods inherited from class Object

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

Method Details

register

public static void register(DoubleConsumer step)

Registers a step callback, invoked with the real elapsed time (seconds) since the previous tick. The first registration starts the shared thread. No-op outside simulation.

Parameters:

step - the per-tick update to run