Package frc.robot.subsystems.climber

Class ClimberSim

java.lang.Object
frc.robot.subsystems.climber.ClimberSim
All Implemented Interfaces:
ClimberIO
public class ClimberSim extends Object implements ClimberIO
Simulation implementation of the climber subsystem.

This class provides a mock implementation of ClimberIO for testing and simulation purposes. It allows developers to test climber control logic without physical hardware.

See Also:

  • Constructor Details

    • ClimberSim

      public ClimberSim()

  • Method Details

    • updateInputs

      public void updateInputs(ClimberIO.ClimberInputs inputs)
      Updates the climber input values for simulation.

      In simulation, this method can be used to update simulated sensor readings and other input states.

      Specified by:
      updateInputs in interface ClimberIO
      Parameters:
      inputs - the input container to update with current climber state

    • setVoltageTelescope

      public void setVoltageTelescope(double volts)
      Sets the voltage for the telescope motor.
      Specified by:
      setVoltageTelescope in interface ClimberIO
      Parameters:
      volts - the voltage to apply to the telescope motor, in volts

    • setVoltagePivot

      public void setVoltagePivot(double volts)
      Sets the voltage for the pivot motor.
      Specified by:
      setVoltagePivot in interface ClimberIO
      Parameters:
      volts - the voltage to apply to the pivot motor, in volts

    • setAnglePivot

      public void setAnglePivot(Angle angle)
      Sets the target angle for the pivot mechanism.
      Specified by:
      setAnglePivot in interface ClimberIO
      Parameters:
      angle - the desired pivot angle

    • setHeightTelescope

      public void setHeightTelescope(Distance height)
      Sets the height for the telescope mechanism
      Specified by:
      setHeightTelescope in interface ClimberIO
      Parameters:
      height - the desired height