Class TalonFXSimulation

java.lang.Object
com.ctre.phoenix6.hardware.ParentDevice
com.ctre.phoenix6.hardware.core.CoreTalonFX
com.ctre.phoenix6.hardware.TalonFX
com.stuypulse.robot.util.talonfx.logged.LoggedTalonFX
com.stuypulse.robot.util.talonfx.sim.TalonFXSimulation
All Implemented Interfaces:
com.ctre.phoenix6.alerts.PhoenixAlertable, com.ctre.phoenix6.hardware.traits.CommonDevice, com.ctre.phoenix6.hardware.traits.CommonTalon, com.ctre.phoenix6.hardware.traits.CommonTalonWithFOC, com.ctre.phoenix6.hardware.traits.HasTalonControls, com.ctre.phoenix6.hardware.traits.HasTalonSignals, com.ctre.phoenix6.hardware.traits.SupportsFOC, com.ctre.phoenix6.hardware.traits.SupportsMusic, AutoCloseable, org.wpilib.telemetry.TelemetryLoggable
public class TalonFXSimulation extends LoggedTalonFX

TalonFX Simulation

This is a simulation wrapper for the TalonFX motor controller. It allows for simulating the behavior of a CTRE motor controller by using WPILib's linear system simulation classes. This class is designed to be used in a conjunction with a SystemSim instance that abstracts all types of WPILib linear sims.

  • Nested Class Summary

    Nested classes/interfaces inherited from class com.ctre.phoenix6.hardware.ParentDevice

    com.ctre.phoenix6.hardware.ParentDevice.MapGenerator

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    private double
    gearRatio
     
    private final SystemSim<?>
    simMotor
     

    Fields inherited from class com.ctre.phoenix6.hardware.TalonFX

    kDefaultSafetyExpiration

    Fields inherited from class com.ctre.phoenix6.hardware.ParentDevice

    _emptyControl, deviceIdentifier

  • Constructor Summary

    Constructors
    Constructor
    Description
    TalonFXSimulation(int port, double gearRatio, SystemSim<?> adapter)
    Creates a new TalonFXSimulation instance.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    configure(TalonFXConfig config)
    Configures the motor with the given configuration.
    void
    linkToReference(TalonFXSimulation reference)
    Call once AFTER configuring the motors to link the orientation of this motor to a reference motor.
    void
    refresh()
    Refeshes the simulation state of the motor.

    Methods inherited from class LoggedTalonFX

    updateInputs, withSignal

    Methods inherited from class com.ctre.phoenix6.hardware.TalonFX

    close, configNeutralMode, configNeutralMode, disable, feed, getDescription, getExpiration, getTelemetryType, getThrottle, isAlive, isSafetyEnabled, logTo, none, setControlPrivate, setExpiration, setSafetyEnabled, setThrottle, setVoltage, setVoltage, stopMotor

    Methods inherited from class com.ctre.phoenix6.hardware.core.CoreTalonFX

    clearStickyFault_BootDuringEnable, clearStickyFault_BootDuringEnable, clearStickyFault_BridgeBrownout, clearStickyFault_BridgeBrownout, clearStickyFault_DeviceTemp, clearStickyFault_DeviceTemp, clearStickyFault_ForwardHardLimit, clearStickyFault_ForwardHardLimit, clearStickyFault_ForwardSoftLimit, clearStickyFault_ForwardSoftLimit, clearStickyFault_FusedSensorOutOfSync, clearStickyFault_FusedSensorOutOfSync, clearStickyFault_Hardware, clearStickyFault_Hardware, clearStickyFault_MissingDifferentialFX, clearStickyFault_MissingDifferentialFX, clearStickyFault_MissingHardLimitRemote, clearStickyFault_MissingHardLimitRemote, clearStickyFault_MissingSoftLimitRemote, clearStickyFault_MissingSoftLimitRemote, clearStickyFault_OverSupplyV, clearStickyFault_OverSupplyV, clearStickyFault_ProcTemp, clearStickyFault_ProcTemp, clearStickyFault_RemoteSensorDataInvalid, clearStickyFault_RemoteSensorDataInvalid, clearStickyFault_RemoteSensorPosOverflow, clearStickyFault_RemoteSensorPosOverflow, clearStickyFault_RemoteSensorReset, clearStickyFault_RemoteSensorReset, clearStickyFault_ReverseHardLimit, clearStickyFault_ReverseHardLimit, clearStickyFault_ReverseSoftLimit, clearStickyFault_ReverseSoftLimit, clearStickyFault_RotorFault1, clearStickyFault_RotorFault1, clearStickyFault_RotorFault2, clearStickyFault_RotorFault2, clearStickyFault_StaticBrakeDisabled, clearStickyFault_StaticBrakeDisabled, clearStickyFault_StatorCurrLimit, clearStickyFault_StatorCurrLimit, clearStickyFault_SupplyCurrLimit, clearStickyFault_SupplyCurrLimit, clearStickyFault_Undervoltage, clearStickyFault_Undervoltage, clearStickyFault_UnlicensedFeatureInUse, clearStickyFault_UnlicensedFeatureInUse, clearStickyFault_UnstableSupplyV, clearStickyFault_UnstableSupplyV, clearStickyFault_UsingFusedCANcoderWhileUnlicensed, clearStickyFault_UsingFusedCANcoderWhileUnlicensed, clearStickyFaults, clearStickyFaults, getAcceleration, getAcceleration, getAncillaryDeviceTemp, getAncillaryDeviceTemp, getAppliedRotorPolarity, getAppliedRotorPolarity, getBridgeOutput, getBridgeOutput, getClosedLoopDerivativeOutput, getClosedLoopDerivativeOutput, getClosedLoopError, getClosedLoopError, getClosedLoopFeedForward, getClosedLoopFeedForward, getClosedLoopIntegratedOutput, getClosedLoopIntegratedOutput, getClosedLoopOutput, getClosedLoopOutput, getClosedLoopProportionalOutput, getClosedLoopProportionalOutput, getClosedLoopReference, getClosedLoopReference, getClosedLoopReferenceSlope, getClosedLoopReferenceSlope, getClosedLoopSlot, getClosedLoopSlot, getConfigurator, getConnectedMotor, getConnectedMotor, getControlMode, getControlMode, getDeviceEnable, getDeviceEnable, getDeviceTemp, getDeviceTemp, getDifferentialAveragePosition, getDifferentialAveragePosition, getDifferentialAverageVelocity, getDifferentialAverageVelocity, getDifferentialClosedLoopDerivativeOutput, getDifferentialClosedLoopDerivativeOutput, getDifferentialClosedLoopError, getDifferentialClosedLoopError, getDifferentialClosedLoopFeedForward, getDifferentialClosedLoopFeedForward, getDifferentialClosedLoopIntegratedOutput, getDifferentialClosedLoopIntegratedOutput, getDifferentialClosedLoopOutput, getDifferentialClosedLoopOutput, getDifferentialClosedLoopProportionalOutput, getDifferentialClosedLoopProportionalOutput, getDifferentialClosedLoopReference, getDifferentialClosedLoopReference, getDifferentialClosedLoopReferenceSlope, getDifferentialClosedLoopReferenceSlope, getDifferentialClosedLoopSlot, getDifferentialClosedLoopSlot, getDifferentialControlMode, getDifferentialControlMode, getDifferentialDifferencePosition, getDifferentialDifferencePosition, getDifferentialDifferenceVelocity, getDifferentialDifferenceVelocity, getDifferentialOutput, getDifferentialOutput, getDutyCycle, getDutyCycle, getFault_BootDuringEnable, getFault_BootDuringEnable, getFault_BridgeBrownout, getFault_BridgeBrownout, getFault_DeviceTemp, getFault_DeviceTemp, getFault_ForwardHardLimit, getFault_ForwardHardLimit, getFault_ForwardSoftLimit, getFault_ForwardSoftLimit, getFault_FusedSensorOutOfSync, getFault_FusedSensorOutOfSync, getFault_Hardware, getFault_Hardware, getFault_MissingDifferentialFX, getFault_MissingDifferentialFX, getFault_MissingHardLimitRemote, getFault_MissingHardLimitRemote, getFault_MissingSoftLimitRemote, getFault_MissingSoftLimitRemote, getFault_OverSupplyV, getFault_OverSupplyV, getFault_ProcTemp, getFault_ProcTemp, getFault_RemoteSensorDataInvalid, getFault_RemoteSensorDataInvalid, getFault_RemoteSensorPosOverflow, getFault_RemoteSensorPosOverflow, getFault_RemoteSensorReset, getFault_RemoteSensorReset, getFault_ReverseHardLimit, getFault_ReverseHardLimit, getFault_ReverseSoftLimit, getFault_ReverseSoftLimit, getFault_RotorFault1, getFault_RotorFault1, getFault_RotorFault2, getFault_RotorFault2, getFault_StaticBrakeDisabled, getFault_StaticBrakeDisabled, getFault_StatorCurrLimit, getFault_StatorCurrLimit, getFault_SupplyCurrLimit, getFault_SupplyCurrLimit, getFault_Undervoltage, getFault_Undervoltage, getFault_UnlicensedFeatureInUse, getFault_UnlicensedFeatureInUse, getFault_UnstableSupplyV, getFault_UnstableSupplyV, getFault_UsingFusedCANcoderWhileUnlicensed, getFault_UsingFusedCANcoderWhileUnlicensed, getFaultField, getFaultField, getForwardLimit, getForwardLimit, getIsProLicensed, getIsProLicensed, getMotionMagicAtTarget, getMotionMagicAtTarget, getMotionMagicIsRunning, getMotionMagicIsRunning, getMotorKT, getMotorKT, getMotorKV, getMotorKV, getMotorOutputStatus, getMotorOutputStatus, getMotorStallCurrent, getMotorStallCurrent, getMotorVoltage, getMotorVoltage, getPosition, getPosition, getProcessorTemp, getProcessorTemp, getReverseLimit, getReverseLimit, getRobotEnable, getRobotEnable, getRotorPosition, getRotorPosition, getRotorVelocity, getRotorVelocity, getSimState, getStatorCurrent, getStatorCurrent, getStickyFault_BootDuringEnable, getStickyFault_BootDuringEnable, getStickyFault_BridgeBrownout, getStickyFault_BridgeBrownout, getStickyFault_DeviceTemp, getStickyFault_DeviceTemp, getStickyFault_ForwardHardLimit, getStickyFault_ForwardHardLimit, getStickyFault_ForwardSoftLimit, getStickyFault_ForwardSoftLimit, getStickyFault_FusedSensorOutOfSync, getStickyFault_FusedSensorOutOfSync, getStickyFault_Hardware, getStickyFault_Hardware, getStickyFault_MissingDifferentialFX, getStickyFault_MissingDifferentialFX, getStickyFault_MissingHardLimitRemote, getStickyFault_MissingHardLimitRemote, getStickyFault_MissingSoftLimitRemote, getStickyFault_MissingSoftLimitRemote, getStickyFault_OverSupplyV, getStickyFault_OverSupplyV, getStickyFault_ProcTemp, getStickyFault_ProcTemp, getStickyFault_RemoteSensorDataInvalid, getStickyFault_RemoteSensorDataInvalid, getStickyFault_RemoteSensorPosOverflow, getStickyFault_RemoteSensorPosOverflow, getStickyFault_RemoteSensorReset, getStickyFault_RemoteSensorReset, getStickyFault_ReverseHardLimit, getStickyFault_ReverseHardLimit, getStickyFault_ReverseSoftLimit, getStickyFault_ReverseSoftLimit, getStickyFault_RotorFault1, getStickyFault_RotorFault1, getStickyFault_RotorFault2, getStickyFault_RotorFault2, getStickyFault_StaticBrakeDisabled, getStickyFault_StaticBrakeDisabled, getStickyFault_StatorCurrLimit, getStickyFault_StatorCurrLimit, getStickyFault_SupplyCurrLimit, getStickyFault_SupplyCurrLimit, getStickyFault_Undervoltage, getStickyFault_Undervoltage, getStickyFault_UnlicensedFeatureInUse, getStickyFault_UnlicensedFeatureInUse, getStickyFault_UnstableSupplyV, getStickyFault_UnstableSupplyV, getStickyFault_UsingFusedCANcoderWhileUnlicensed, getStickyFault_UsingFusedCANcoderWhileUnlicensed, getStickyFaultField, getStickyFaultField, getSupplyCurrent, getSupplyCurrent, getSupplyVoltage, getSupplyVoltage, getTorqueCurrent, getTorqueCurrent, getVelocity, getVelocity, getVersion, getVersion, getVersionBugfix, getVersionBugfix, getVersionBuild, getVersionBuild, getVersionMajor, getVersionMajor, getVersionMinor, getVersionMinor, registerAlerts, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setPosition, setPosition, setPosition, setPosition

    Methods inherited from class com.ctre.phoenix6.hardware.ParentDevice

    getAppliedControl, getDeviceHash, getDeviceID, getIsConnectedChecker, getIsConnectedChecker, getNetwork, getResetOccurredChecker, hasResetOccurred, isConnected, isConnected, lookupStatusSignal, lookupStatusSignal, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilizationForAll, optimizeBusUtilizationForAll, optimizeBusUtilizationForAll, resetSignalFrequencies, resetSignalFrequencies, resetSignalFrequenciesForAll, toString

    Methods inherited from class Object

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

    Methods inherited from interface com.ctre.phoenix6.hardware.traits.CommonDevice

    getAppliedControl, getDeviceHash, getDeviceID, getIsConnectedChecker, getIsConnectedChecker, getNetwork, getResetOccurredChecker, hasResetOccurred, isConnected, isConnected, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilization, resetSignalFrequencies, resetSignalFrequencies

  • Field Details

  • Constructor Details

    • TalonFXSimulation

      public TalonFXSimulation(int port, double gearRatio, SystemSim<?> adapter)
      Creates a new TalonFXSimulation instance.
      Parameters:
      port - The port of the motor controller (TalonFX).
      gearRatio - The gear ratio of the motor.
      adapter - The simulation adapter for the motor.

  • Method Details

    • configure

      public void configure(TalonFXConfig config)
      Configures the motor with the given configuration.
      Parameters:
      config - The configuration to apply to the motor.

    • linkToReference

      public void linkToReference(TalonFXSimulation reference)
      Call once AFTER configuring the motors to link the orientation of this motor to a reference motor. This ensures that the gear ratio is correctly oriented for the simulation.
      Parameters:
      reference - The reference motor to compensate for orientation. This should be the "leader" motor usually.

    • refresh

      public void refresh()
      Refeshes the simulation state of the motor. This should be called only AFTER updating the corresponding SystemSim.