Package frc.robot.swerve

Class MapleSimSwerveDrivetrain

java.lang.Object

frc.robot.swerve.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.

It replaces the SimSwerveDrivetrain class.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
protected static class	MapleSimSwerveDrivetrain.SimSwerveModule	Represents the simulation of a single SwerveModule.
static class	MapleSimSwerveDrivetrain.TalonFXMotorControllerSim
static class	MapleSimSwerveDrivetrain.TalonFXMotorControllerWithRemoteCanCoderSim

Field Summary

Fields

Modifier and Type	Field	Description
final org.ironmaple.simulation.drivesims.SwerveDriveSimulation	mapleSimDrive

Constructor Summary

Constructors

Constructor

Description

MapleSimSwerveDrivetrain(edu.wpi.first.units.measure.Time simPeriod, edu.wpi.first.units.measure.Mass robotMassWithBumpers, edu.wpi.first.units.measure.Distance bumperLengthX, edu.wpi.first.units.measure.Distance bumperWidthY, edu.wpi.first.math.system.plant.DCMotor driveMotorModel, edu.wpi.first.math.system.plant.DCMotor steerMotorModel, double wheelCOF, edu.wpi.first.math.geometry.Translation2d[] moduleLocations, com.ctre.phoenix6.hardware.Pigeon2 pigeon, com.ctre.phoenix6.swerve.SwerveModule<com.ctre.phoenix6.hardware.TalonFX,com.ctre.phoenix6.hardware.TalonFX,com.ctre.phoenix6.hardware.CANcoder>[] modules, com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration>... moduleConstants)

Constructs a drivetrain simulation using the specified parameters.

Method Summary

Modifier and Type	Method	Description
static com.ctre.phoenix6.swerve.SwerveModuleConstants<?,?,?>[]	regulateModuleConstantsForSimulation(com.ctre.phoenix6.swerve.SwerveModuleConstants<?,?,?>[] moduleConstants)	Regulates all SwerveModuleConstants for a drivetrain simulation.
void	update()	Update the simulation.

Methods inherited from class java.lang.Object

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

Field Details

mapleSimDrive

public final org.ironmaple.simulation.drivesims.SwerveDriveSimulation mapleSimDrive

Constructor Details

MapleSimSwerveDrivetrain

public MapleSimSwerveDrivetrain(edu.wpi.first.units.measure.Time simPeriod,
 edu.wpi.first.units.measure.Mass robotMassWithBumpers,
 edu.wpi.first.units.measure.Distance bumperLengthX,
 edu.wpi.first.units.measure.Distance bumperWidthY,
 edu.wpi.first.math.system.plant.DCMotor driveMotorModel,
 edu.wpi.first.math.system.plant.DCMotor steerMotorModel,
 double wheelCOF,
 edu.wpi.first.math.geometry.Translation2d[] moduleLocations,
 com.ctre.phoenix6.hardware.Pigeon2 pigeon,
 com.ctre.phoenix6.swerve.SwerveModule<com.ctre.phoenix6.hardware.TalonFX,com.ctre.phoenix6.hardware.TalonFX,com.ctre.phoenix6.hardware.CANcoder>[] modules,
 com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.TalonFXConfiguration,com.ctre.phoenix6.configs.CANcoderConfiguration>... moduleConstants)

Constructs a drivetrain simulation using the specified parameters.

Parameters:

simPeriod - the time period of the simulation

robotMassWithBumpers - the total mass of the robot, including bumpers

bumperLengthX - the length of the bumper along the X-axis (influences the collision space of the robot)

bumperWidthY - the width of the bumper along the Y-axis (influences the collision space of the robot)

driveMotorModel - the DCMotor model for the drive motor, typically DCMotor.getKrakenX60Foc()

steerMotorModel - the DCMotor model for the steer motor, typically DCMotor.getKrakenX60Foc()

wheelCOF - the coefficient of friction of the drive wheels

moduleLocations - the locations of the swerve modules on the robot, in the order FL, FR, BL, BR

pigeon - the Pigeon2 IMU used in the drivetrain

modules - the SwerveModules, typically obtained via SwerveDrivetrain.getModules()

moduleConstants - the constants for the swerve modules

Method Details

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.

See Also:

• regulateModuleConstantForSimulation(SwerveModuleConstants)