Package frc.spectrumLib.swerve

Class MapleSimSwerveDrivetrain.TalonFXMotorControllerSim

java.lang.Object

frc.spectrumLib.swerve.MapleSimSwerveDrivetrain.TalonFXMotorControllerSim

All Implemented Interfaces:

SimulatedMotorController

Direct Known Subclasses:

MapleSimSwerveDrivetrain.TalonFXMotorControllerWithRemoteCanCoderSim

Enclosing class:

MapleSimSwerveDrivetrain

public static class MapleSimSwerveDrivetrain.TalonFXMotorControllerSim
extends Object
implements SimulatedMotorController

Adapts a TalonFX motor controller for use as a SimulatedMotorController in Maple-Sim by forwarding encoder state from the simulation into the CTRE sim state.

Nested Class Summary

Nested classes/interfaces inherited from interface org.ironmaple.simulation.motorsims.SimulatedMotorController

SimulatedMotorController.GenericMotorController

Field Summary

Fields

Modifier and Type	Field	Description
final int	id	CAN device ID of the underlying TalonFX.

Constructor Summary

Constructors

Constructor	Description
TalonFXMotorControllerSim(TalonFX talonFX)	Constructs the adapter for the given TalonFX.

Method Summary

Modifier and Type	Method	Description
Voltage	updateControlSignal(Angle mechanismAngle, AngularVelocity mechanismVelocity, Angle encoderAngle, AngularVelocity encoderVelocity)	Injects simulated rotor position, velocity, and supply voltage into the TalonFX sim state, then returns the motor output voltage requested by the controller's closed-loop algorithm.

Methods inherited from class java.lang.Object

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

Field Details

id

public final int id

CAN device ID of the underlying TalonFX.

Constructor Details

TalonFXMotorControllerSim

public TalonFXMotorControllerSim(TalonFX talonFX)

Constructs the adapter for the given TalonFX.

Parameters:

talonFX - the TalonFX motor controller to wrap

Method Details

updateControlSignal

public Voltage updateControlSignal(Angle mechanismAngle,
 AngularVelocity mechanismVelocity,
 Angle encoderAngle,
 AngularVelocity encoderVelocity)

Injects simulated rotor position, velocity, and supply voltage into the TalonFX sim state, then returns the motor output voltage requested by the controller's closed-loop algorithm.

Specified by:

updateControlSignal in interface SimulatedMotorController

Parameters:

mechanismAngle - current mechanism-side angle from the physics model

mechanismVelocity - current mechanism-side angular velocity from the physics model

encoderAngle - current encoder angle (rotor-side) from the physics model

encoderVelocity - current encoder angular velocity (rotor-side) from the physics model

Returns:

the voltage the controller is requesting from the simulated battery