Package frc.spectrumLib.swerve

Class MapleSimSwerveDrivetrain.TalonFXMotorControllerWithRemoteCanCoderSim

java.lang.Object

frc.spectrumLib.swerve.MapleSimSwerveDrivetrain.TalonFXMotorControllerSim

frc.spectrumLib.swerve.MapleSimSwerveDrivetrain.TalonFXMotorControllerWithRemoteCanCoderSim

All Implemented Interfaces:

SimulatedMotorController

Enclosing class:

MapleSimSwerveDrivetrain

public static class MapleSimSwerveDrivetrain.TalonFXMotorControllerWithRemoteCanCoderSim
extends MapleSimSwerveDrivetrain.TalonFXMotorControllerSim

Extends MapleSimSwerveDrivetrain.TalonFXMotorControllerSim to also drive a remote CANcoder simulation state. Used for steer motors whose feedback device is a remote CANcoder.

Nested Class Summary

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

SimulatedMotorController.GenericMotorController

Field Summary

Fields inherited from class frc.spectrumLib.swerve.MapleSimSwerveDrivetrain.TalonFXMotorControllerSim

id

Constructor Summary

Constructors

Constructor	Description
TalonFXMotorControllerWithRemoteCanCoderSim(TalonFX talonFX, CANcoder cancoder)	Constructs the adapter for a steer motor paired with a remote CANcoder.

Method Summary

Modifier and Type	Method	Description
Voltage	updateControlSignal(Angle mechanismAngle, AngularVelocity mechanismVelocity, Angle encoderAngle, AngularVelocity encoderVelocity)	Injects simulated supply voltage, position, and velocity into the remote CANcoder sim state, then delegates to the parent implementation to update the TalonFX and return the requested motor voltage.

Methods inherited from class java.lang.Object

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

Constructor Details

TalonFXMotorControllerWithRemoteCanCoderSim

public TalonFXMotorControllerWithRemoteCanCoderSim(TalonFX talonFX,
 CANcoder cancoder)

Constructs the adapter for a steer motor paired with a remote CANcoder.

Parameters:

talonFX - the steer TalonFX motor controller

cancoder - the remote CANcoder used as the steer feedback sensor

Method Details

updateControlSignal

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

Injects simulated supply voltage, position, and velocity into the remote CANcoder sim state, then delegates to the parent implementation to update the TalonFX and return the requested motor voltage.

Specified by:

updateControlSignal in interface SimulatedMotorController

Overrides:

updateControlSignal in class MapleSimSwerveDrivetrain.TalonFXMotorControllerSim

Parameters:

mechanismAngle - current mechanism-side angle (written to the CANcoder)

mechanismVelocity - current mechanism-side angular velocity (written to the CANcoder)

encoderAngle - current encoder (rotor-side) angle (forwarded to TalonFX)

encoderVelocity - current encoder angular velocity (forwarded to TalonFX)

Returns:

the voltage the controller is requesting from the simulated battery