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

Class ModuleIOSim

java.lang.Object

frc.alotobots.library.subsystems.swervedrive.io.ModuleIOSim

All Implemented Interfaces:

ModuleIO

public class ModuleIOSim
extends Object
implements ModuleIO

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

Constructor Summary

Constructors

Constructor	Description
ModuleIOSim(int moduleIndex)

Method Summary

Modifier and Type	Method	Description
void	setDriveOpenLoop(double output)	Run the drive motor at the specified open loop value.
void	setDriveVelocity(double velocityRadPerSec)	Run the drive motor at the specified velocity.
void	setTurnOpenLoop(double output)	Run the turn motor at the specified open loop value.
void	setTurnPosition(Rotation2d rotation)	Run the turn motor to the specified rotation.
void	updateInputs(ModuleIO.ModuleIOInputs inputs)	Updates the set of loggable inputs.

Methods inherited from class java.lang.Object

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

Constructor Details

ModuleIOSim

public ModuleIOSim(int moduleIndex)

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

setDriveOpenLoop

public void setDriveOpenLoop(double output)

Description copied from interface: ModuleIO

Run the drive motor at the specified open loop value.

Specified by:

setDriveOpenLoop in interface ModuleIO

setTurnOpenLoop

public void setTurnOpenLoop(double output)

Description copied from interface: ModuleIO

Run the turn motor at the specified open loop value.

Specified by:

setTurnOpenLoop in interface ModuleIO

setDriveVelocity

public void setDriveVelocity(double velocityRadPerSec)

Description copied from interface: ModuleIO

Run the drive motor at the specified velocity.

Specified by:

setDriveVelocity in interface ModuleIO

setTurnPosition

public void setTurnPosition(Rotation2d rotation)

Description copied from interface: ModuleIO

Run the turn motor to the specified rotation.

Specified by:

setTurnPosition in interface ModuleIO