Class ModuleIOSim

java.lang.Object

com.stuypulse.robot.subsystems.swerve.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 ModuleIO

ModuleIO.DriveOutputMode, ModuleIO.ModuleIOInputs, ModuleIO.ModuleIOOutputs, ModuleIO.TurnOutputMode

Field Summary

Fields

Modifier and Type	Field	Description
private static final org.wpilib.math.system.DCMotor	DRIVE_GEARBOX
private static final double	DRIVE_KD
private static final double	DRIVE_KP
private static final double	DRIVE_KS
private static final double	DRIVE_KV
private static final double	DRIVE_KV_ROT
private double	driveAppliedVolts
private boolean	driveClosedLoop
private org.wpilib.math.controller.PIDController	driveController
private double	driveFFVolts
private final org.wpilib.simulation.DCMotorSim	driveSim
private static final org.wpilib.math.system.DCMotor	TURN_GEARBOX
private static final double	TURN_KD
private static final double	TURN_KP
private double	turnAppliedVolts
private boolean	turnClosedLoop
private org.wpilib.math.controller.PIDController	turnController
private final org.wpilib.simulation.DCMotorSim	turnSim

Constructor Summary

Constructors

Constructor	Description
ModuleIOSim(com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration, com.ctre.phoenix6.configs.TalonFXConfiguration, com.ctre.phoenix6.configs.CANcoderConfiguration> constants)

Method Summary

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

Methods inherited from class Object

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

Field Details

DRIVE_KP

private static final double DRIVE_KP

See Also:

• Constant Field Values

DRIVE_KD

private static final double DRIVE_KD

See Also:

• Constant Field Values

DRIVE_KS

private static final double DRIVE_KS

See Also:

• Constant Field Values

DRIVE_KV_ROT

private static final double DRIVE_KV_ROT

See Also:

• Constant Field Values

DRIVE_KV

private static final double DRIVE_KV

TURN_KP

private static final double TURN_KP

See Also:

• Constant Field Values

TURN_KD

private static final double TURN_KD

See Also:

• Constant Field Values

DRIVE_GEARBOX

private static final org.wpilib.math.system.DCMotor DRIVE_GEARBOX

TURN_GEARBOX

private static final org.wpilib.math.system.DCMotor TURN_GEARBOX

driveSim

private final org.wpilib.simulation.DCMotorSim driveSim

turnSim

private final org.wpilib.simulation.DCMotorSim turnSim

driveClosedLoop

private boolean driveClosedLoop

turnClosedLoop

private boolean turnClosedLoop

driveController

private org.wpilib.math.controller.PIDController driveController

turnController

private org.wpilib.math.controller.PIDController turnController

driveFFVolts

private double driveFFVolts

driveAppliedVolts

private double driveAppliedVolts

turnAppliedVolts

private double turnAppliedVolts

Constructor Details

ModuleIOSim

public ModuleIOSim(com.ctre.phoenix6.swerve.SwerveModuleConstants<com.ctre.phoenix6.configs.TalonFXConfiguration, com.ctre.phoenix6.configs.TalonFXConfiguration, com.ctre.phoenix6.configs.CANcoderConfiguration> constants)

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

applyOutputs

public void applyOutputs(ModuleIO.ModuleIOOutputs outputs)

Specified by:

applyOutputs in interface ModuleIO