Package frc.spectrumLib.sim

Class RollerSim

java.lang.Object

frc.spectrumLib.sim.RollerSim

All Implemented Interfaces:

Mountable

public class RollerSim
extends Object
implements Mountable

WPILib-backed simulation of a roller (flywheel) mechanism driven by a single Kraken X60 motor. Updates the TalonFX sim state each robot period and animates the roller — including spin-color feedback — in a Mechanism2d canvas. Implements Mountable so the roller axle can follow a parent Mount.

Constructor Summary

Constructors

Constructor	Description
RollerSim(RollerConfig config, Mechanism2d mech, TalonFXSimState rollerMotorSim, String name)	Creates and registers a roller simulation.

Method Summary

Modifier and Type	Method	Description
void	simulationPeriodic()	Advances the flywheel physics simulation by one robot period, updates the TalonFX rotor velocity and position, moves the axle to its current mount position, and updates the Mechanism2d color to reflect the roller's spin direction.

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

RollerSim

public RollerSim(RollerConfig config,
 Mechanism2d mech,
 TalonFXSimState rollerMotorSim,
 String name)

Creates and registers a roller simulation.

Parameters:

config - physical and display configuration for the roller

mech - the Mechanism2d canvas to draw the roller on

rollerMotorSim - the TalonFX sim state of the motor driving the roller

name - unique name prefix used for Mechanism2d element labels

Method Details

simulationPeriodic

public void simulationPeriodic()

Advances the flywheel physics simulation by one robot period, updates the TalonFX rotor velocity and position, moves the axle to its current mount position, and updates the Mechanism2d color to reflect the roller's spin direction.