Package frc.alotobots.library.subsystems.swervedrive.io

Class ModuleIOTalonFXSim

java.lang.Object

frc.alotobots.library.subsystems.swervedrive.io.ModuleIOTalonFX

frc.alotobots.library.subsystems.swervedrive.io.ModuleIOTalonFXSim

All Implemented Interfaces:

ModuleIO

public class ModuleIOTalonFXSim
extends ModuleIOTalonFX

Physics sim implementation of module IO. The sim models are configured using a set of module constants from Phoenix. Simulation is always based on voltage control.

Nested Class Summary

Nested classes/interfaces inherited from interface frc.alotobots.library.subsystems.swervedrive.io.ModuleIO

ModuleIO.ModuleIOInputs

Field Summary

Fields inherited from class frc.alotobots.library.subsystems.swervedrive.io.ModuleIOTalonFX

cancoder, constants, driveAppliedVolts, driveCurrent, drivePosition, driveTalon, driveVelocity, positionTorqueCurrentRequest, positionVoltageRequest, torqueCurrentRequest, turnAbsolutePosition, turnAppliedVolts, turnCurrent, turnTalon, turnVelocity, velocityTorqueCurrentRequest, velocityVoltageRequest, voltageRequest

Constructor Summary

Constructors

Constructor	Description
ModuleIOTalonFXSim(int moduleIndex, org.ironmaple.simulation.drivesims.SwerveModuleSimulation simulation)

Method Summary

Modifier and Type	Method	Description
void	updateInputs(ModuleIO.ModuleIOInputs inputs)	Updates the set of loggable inputs.

Methods inherited from class frc.alotobots.library.subsystems.swervedrive.io.ModuleIOTalonFX

setDriveOpenLoop, setDriveVelocity, setTurnOpenLoop, setTurnPosition

Methods inherited from class java.lang.Object

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

Constructor Details

ModuleIOTalonFXSim

public ModuleIOTalonFXSim(int moduleIndex,
 org.ironmaple.simulation.drivesims.SwerveModuleSimulation simulation)

Method Details

updateInputs

public void updateInputs(ModuleIO.ModuleIOInputs inputs)

Description copied from interface: ModuleIO

Updates the set of loggable inputs.

Specified by:

updateInputs in interface ModuleIO

Overrides:

updateInputs in class ModuleIOTalonFX