Package frc.spectrumLib.sim

Interface Mount

All Known Implementing Classes:
ArmSim, LinearSim
public interface Mount
Represents a simulation component that other mechanisms can be attached to. Implementations expose their current position and angle so child mechanisms can update their own position each simulation period.

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Interface
    Description
    static enum 
    Mount.MountType
    Discriminates between the two supported mount types so child mechanisms can apply the correct positioning logic.

  • Method Summary

    Modifier and Type
    Method
    Description
    double
    getAngle()
    Returns the current absolute angle of this mount in radians.
    double
    getDisplacementX()
    Returns the horizontal displacement of this mount from its initial position (metres).
    double
    getDisplacementY()
    Returns the vertical displacement of this mount from its initial position (metres).
    Mount.MountType
    getMountType()
    Returns the type of this mount, used by child mechanisms to select positioning logic.
    double
    getMountX()
    Returns the X coordinate that child mechanisms should use as their attachment point (metres).
    double
    getMountY()
    Returns the Y coordinate that child mechanisms should use as their attachment point (metres).

  • Method Details

    • getMountType

      Mount.MountType getMountType()
      Returns the type of this mount, used by child mechanisms to select positioning logic.
      Returns:
      this mount's Mount.MountType

    • getDisplacementX

      double getDisplacementX()
      Returns the horizontal displacement of this mount from its initial position (metres).
      Returns:
      horizontal displacement in metres

    • getDisplacementY

      double getDisplacementY()
      Returns the vertical displacement of this mount from its initial position (metres).
      Returns:
      vertical displacement in metres

    • getAngle

      double getAngle()
      Returns the current absolute angle of this mount in radians.
      Returns:
      angle in radians

    • getMountX

      double getMountX()
      Returns the X coordinate that child mechanisms should use as their attachment point (metres).
      Returns:
      mount X position in metres

    • getMountY

      double getMountY()
      Returns the Y coordinate that child mechanisms should use as their attachment point (metres).
      Returns:
      mount Y position in metres