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

WPILib-backed simulation of a single-jointed arm driven by one or more Kraken X60 motors. Updates the TalonFX sim state each robot period and animates the arm in a Mechanism2d canvas. Implements Mount so other mechanisms can be attached to this arm's tip, and implements Mountable so this arm can itself be attached to a parent mount.

Nested Class Summary

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

Mount.MountType

Constructor Summary

Constructors

Constructor	Description
ArmSim(ArmConfig config, Mechanism2d mech, TalonFXSimState armMotorSim, String name)	Creates and registers an arm simulation.

Method Summary

Modifier and Type	Method	Description
double	getAngle()	Returns the effective arm angle accounting for the parent mount's angle when mounted and not using an absolute angle reference.
double	getAngleRads()	Returns the current arm angle from the WPILib physics simulation.
ArmConfig	getConfig()	Configuration containing physical properties and display settings for this arm.
double	getDisplacementX()	Returns how far the pivot has moved horizontally from its initial position.
double	getDisplacementY()	Returns how far the pivot has moved vertically from its initial position.
Mount.MountType	getMountType()	Always Mount.MountType.ARM; used by child mechanisms to determine positioning logic.
double	getMountX()	Returns the X coordinate of the arm pivot, used by child mechanisms as their mount point.
double	getMountY()	Returns the Y coordinate of the arm pivot, used by child mechanisms as their mount point.
void	simulationPeriodic()	Advances the arm physics simulation by one robot period, updates the TalonFX rotor position and velocity, and refreshes the Mechanism2d visualization.

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,
 Mechanism2d mech,
 TalonFXSimState armMotorSim,
 String name)

Creates and registers an arm simulation.

Parameters:

config - physical and display configuration for the arm

mech - the Mechanism2d canvas to draw the arm on

armMotorSim - the TalonFX sim state of the motor driving the arm

name - unique name prefix used for Mechanism2d element labels

Method Details

simulationPeriodic

public void simulationPeriodic()

Advances the arm physics simulation by one robot period, updates the TalonFX rotor position and velocity, and refreshes the Mechanism2d visualization.

getAngleRads

public double getAngleRads()

Returns the current arm angle from the WPILib physics simulation.

Returns:

arm angle in radians

getDisplacementX

public double getDisplacementX()

Returns how far the pivot has moved horizontally from its initial position.

Specified by:

getDisplacementX in interface Mount

Returns:

horizontal displacement in metres

getDisplacementY

public double getDisplacementY()

Returns how far the pivot has moved vertically from its initial position.

Specified by:

getDisplacementY in interface Mount

Returns:

vertical displacement in metres

getAngle

public double getAngle()

Returns the effective arm angle accounting for the parent mount's angle when mounted and not using an absolute angle reference.

Specified by:

getAngle in interface Mount

Returns:

effective arm angle in radians

getMountX

public double getMountX()

Returns the X coordinate of the arm pivot, used by child mechanisms as their mount point.

Specified by:

getMountX in interface Mount

Returns:

pivot X position in metres

getMountY

public double getMountY()

Returns the Y coordinate of the arm pivot, used by child mechanisms as their mount point.

Specified by:

getMountY in interface Mount

Returns:

pivot Y position in metres

getConfig

public ArmConfig getConfig()

Configuration containing physical properties and display settings for this arm.

getMountType

public Mount.MountType getMountType()

Always Mount.MountType.ARM; used by child mechanisms to determine positioning logic.

Specified by:

getMountType in interface Mount

Returns:

this mount's Mount.MountType