Package com.stuypulse.robot.subsystems.shooter

Class ShooterSim

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

com.stuypulse.robot.subsystems.shooter.Shooter

com.stuypulse.robot.subsystems.shooter.ShooterSim

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem

public class ShooterSim
extends Shooter

Nested Class Summary

Nested classes/interfaces inherited from class com.stuypulse.robot.subsystems.shooter.Shooter

Shooter.ShooterState

Field Summary

Fields

Modifier and Type	Field	Description
private final com.ctre.phoenix6.controls.VelocityTorqueCurrentFOC	shooterController
private final com.ctre.phoenix6.controls.Follower	shooterFollowerController
private final TalonFXSimulation	shooterMotorCenter
private final TalonFXSimulation	shooterMotorLeft
private final TalonFXSimulation	shooterMotorRight
private final edu.wpi.first.wpilibj.simulation.FlywheelSim	shooterSim
private Optional<edu.wpi.first.units.measure.Voltage>	voltageOverride

Constructor Summary

Constructors

Constructor	Description
ShooterSim()

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.units.measure.AngularVelocity	getCurrentAngularVelocity()
private com.ctre.phoenix6.controls.ControlRequest	getShooterControl()
edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine	getShooterSysIdRoutine()
void	periodic()
void	setVoltageOverride(edu.wpi.first.units.measure.Voltage voltage)
protected void	stopMotors()

Methods inherited from class com.stuypulse.robot.subsystems.shooter.Shooter

addToBonusVelocity, getInstance, getState, logMotor, resetBonusVelocity, setState, shooterSpunUp

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, idle, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Field Details

shooterSim

private final edu.wpi.first.wpilibj.simulation.FlywheelSim shooterSim

shooterMotorLeft

private final TalonFXSimulation shooterMotorLeft

shooterMotorCenter

private final TalonFXSimulation shooterMotorCenter

shooterMotorRight

private final TalonFXSimulation shooterMotorRight

shooterController

private final com.ctre.phoenix6.controls.VelocityTorqueCurrentFOC shooterController

shooterFollowerController

private final com.ctre.phoenix6.controls.Follower shooterFollowerController

voltageOverride

private Optional<edu.wpi.first.units.measure.Voltage> voltageOverride

Constructor Details

ShooterSim

public ShooterSim()

Method Details

getCurrentAngularVelocity

public edu.wpi.first.units.measure.AngularVelocity getCurrentAngularVelocity()

Specified by:

getCurrentAngularVelocity in class Shooter

stopMotors

protected void stopMotors()

Specified by:

stopMotors in class Shooter

setVoltageOverride

public void setVoltageOverride(edu.wpi.first.units.measure.Voltage voltage)

Specified by:

setVoltageOverride in class Shooter

getShooterControl

private com.ctre.phoenix6.controls.ControlRequest getShooterControl()

periodic

public void periodic()

Specified by:

periodic in interface edu.wpi.first.wpilibj2.command.Subsystem

Overrides:

periodic in class Shooter

getShooterSysIdRoutine

public edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine getShooterSysIdRoutine()

Specified by:

getShooterSysIdRoutine in class Shooter