Package frc.spectrumLib.sim

Class LinearSim

java.lang.Object

frc.spectrumLib.sim.LinearSim

All Implemented Interfaces:

Mount, Mountable

public class LinearSim
extends Object
implements Mount, Mountable

WPILib-backed simulation of a linear (elevator-style) mechanism driven by one or more Kraken X60 motors. Updates the TalonFX sim state each robot period and animates both a static backing ligament and a moving stage ligament in a Mechanism2d canvas. Implements Mount so other mechanisms can be attached to the moving stage, and implements Mountable so this stage 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
LinearSim(LinearConfig config, Mechanism2d mech, TalonFXSimState linearMotorSim, String name)	Creates and registers a linear mechanism simulation.

Method Summary

Modifier and Type	Method	Description
double	getAngle()	Returns the effective absolute angle of the linear stage in radians, adding the parent mount's angle when mounted.
LinearConfig	getConfig()	Configuration containing physical properties and display settings for this linear stage.
double	getDisplacementX()	Returns the horizontal component of the stage's current displacement from its initial position, accounting for the parent mount's angle when mounted.
double	getDisplacementY()	Returns the vertical component of the stage's current displacement from its initial position, accounting for the parent mount's angle when mounted.
MechanismLigament2d	getElevatorMech2d()	Returns the moving stage MechanismLigament2d, useful for attaching additional visual elements.
Mount.MountType	getMountType()	Always Mount.MountType.LINEAR; used by child mechanisms to determine positioning logic.
double	getMountX()	Returns the X coordinate of the static root of this stage, used by child mechanisms as their mount point.
double	getMountY()	Returns the Y coordinate of the static root of this stage, used by child mechanisms as their mount point.
void	simulationPeriodic()	Advances the elevator physics simulation by one robot period, updates the TalonFX rotor position and velocity, and refreshes both the static and moving Mechanism2d ligaments.

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

LinearSim

public LinearSim(LinearConfig config,
 Mechanism2d mech,
 TalonFXSimState linearMotorSim,
 String name)

Creates and registers a linear mechanism simulation.

Parameters:

config - physical and display configuration for the linear stage

mech - the Mechanism2d canvas to draw the stage on

linearMotorSim - the TalonFX sim state of the motor driving the stage

name - unique name prefix used for Mechanism2d element labels

Method Details

getElevatorMech2d

public MechanismLigament2d getElevatorMech2d()

Returns the moving stage MechanismLigament2d, useful for attaching additional visual elements.

Returns:

the elevator moving-stage ligament

simulationPeriodic

public void simulationPeriodic()

Advances the elevator physics simulation by one robot period, updates the TalonFX rotor position and velocity, and refreshes both the static and moving Mechanism2d ligaments.

getDisplacementX

public double getDisplacementX()

Returns the horizontal component of the stage's current displacement from its initial position, accounting for the parent mount's angle when mounted.

Specified by:

getDisplacementX in interface Mount

Returns:

horizontal displacement in metres

getDisplacementY

public double getDisplacementY()

Returns the vertical component of the stage's current displacement from its initial position, accounting for the parent mount's angle when mounted.

Specified by:

getDisplacementY in interface Mount

Returns:

vertical displacement in metres

getAngle

public double getAngle()

Returns the effective absolute angle of the linear stage in radians, adding the parent mount's angle when mounted.

Specified by:

getAngle in interface Mount

Returns:

effective stage angle in radians

getMountX

public double getMountX()

Returns the X coordinate of the static root of this stage, used by child mechanisms as their mount point.

Specified by:

getMountX in interface Mount

Returns:

static root X position in metres

getMountY

public double getMountY()

Returns the Y coordinate of the static root of this stage, used by child mechanisms as their mount point.

Specified by:

getMountY in interface Mount

Returns:

static root Y position in metres

getConfig

public LinearConfig getConfig()

Configuration containing physical properties and display settings for this linear stage.

getMountType

public Mount.MountType getMountType()

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

Specified by:

getMountType in interface Mount

Returns:

this mount's Mount.MountType