Package frc.lib.util.swerve

Class SwerveModuleSim

java.lang.Object

frc.lib.util.swerve.SwerveModuleSim

All Implemented Interfaces:

SwerveModuleIO

public class SwerveModuleSim
extends Object
implements SwerveModuleIO

Simulated Swerve Module

Nested Class Summary

Nested classes/interfaces inherited from interface frc.lib.util.swerve.SwerveModuleIO

SwerveModuleIO.Empty, SwerveModuleIO.SwerveModuleInputs

Constructor Summary

Constructors

Constructor	Description
SwerveModuleSim(int id, org.ironmaple.simulation.drivesims.SwerveModuleSimulation modSim)	Simulated Swerve Module

Method Summary

Modifier and Type	Method	Description
void	setAngleMotor(double angle)
void	setDriveMotor(double mps)
void	setDriveMotorPower(double power)
void	setPositionAngleMotor(double absolutePosition)
void	updateInputs(SwerveModuleIO.SwerveModuleInputs inputs)

Methods inherited from class java.lang.Object

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

Constructor Details

SwerveModuleSim

public SwerveModuleSim(int id,
 org.ironmaple.simulation.drivesims.SwerveModuleSimulation modSim)

Simulated Swerve Module

Method Details

updateInputs

public void updateInputs(SwerveModuleIO.SwerveModuleInputs inputs)

Specified by:

updateInputs in interface SwerveModuleIO

setDriveMotor

public void setDriveMotor(double mps)

Specified by:

setDriveMotor in interface SwerveModuleIO

setDriveMotorPower

public void setDriveMotorPower(double power)

Specified by:

setDriveMotorPower in interface SwerveModuleIO

setAngleMotor

public void setAngleMotor(double angle)

Specified by:

setAngleMotor in interface SwerveModuleIO

setPositionAngleMotor

public void setPositionAngleMotor(double absolutePosition)

Specified by:

setPositionAngleMotor in interface SwerveModuleIO