Package frc.spectrumLib.swerve

Class MapleSimSwerveDrivetrain.SimSwerveModule

java.lang.Object

frc.spectrumLib.swerve.MapleSimSwerveDrivetrain.SimSwerveModule

Enclosing class:

MapleSimSwerveDrivetrain

protected static class MapleSimSwerveDrivetrain.SimSwerveModule
extends Object

Represents the simulation of a single SwerveModule.

Field Summary

Fields

Modifier and Type	Field	Description
final SwerveModuleConstants<TalonFXConfiguration,TalonFXConfiguration,CANcoderConfiguration>	moduleConstant	Constants (gear ratios, friction voltages, wheel radius, etc.) for this module.
final SwerveModuleSimulation	moduleSimulation	Maple-Sim physics simulation instance for this module.

Constructor Summary

Constructors

Constructor	Description
SimSwerveModule(SwerveModuleConstants<TalonFXConfiguration,TalonFXConfiguration,CANcoderConfiguration> moduleConstant, SwerveModuleSimulation moduleSimulation, SwerveModule<TalonFX,TalonFX,CANcoder> module)	Constructs a simulated swerve module by wiring the Maple-Sim physics model to the CTRE motor controllers.

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

moduleConstant

public final SwerveModuleConstants<TalonFXConfiguration,TalonFXConfiguration,CANcoderConfiguration> moduleConstant

Constants (gear ratios, friction voltages, wheel radius, etc.) for this module.

moduleSimulation

public final SwerveModuleSimulation moduleSimulation

Maple-Sim physics simulation instance for this module.

Constructor Details

SimSwerveModule

public SimSwerveModule(SwerveModuleConstants<TalonFXConfiguration,TalonFXConfiguration,CANcoderConfiguration> moduleConstant,
 SwerveModuleSimulation moduleSimulation,
 SwerveModule<TalonFX,TalonFX,CANcoder> module)

Constructs a simulated swerve module by wiring the Maple-Sim physics model to the CTRE motor controllers.

Parameters:

moduleConstant - constants for this swerve module

moduleSimulation - Maple-Sim simulation instance for this module

module - the real CTRE SwerveModule whose sim states will be driven