Package frc.robot.subsystems.turret

Class TurretSim

java.lang.Object

frc.robot.subsystems.turret.TurretSim

All Implemented Interfaces:

TurretIO

public class TurretSim
extends Object
implements TurretIO

Simulation implementation of TurretIO.

This class provides a lightweight software model of the turret hardware for use in simulation, unit testing, and log replay. It maintains an internal turret angle state and generates synthetic absolute encoder readings based on the configured gear ratios and offsets.

To better approximate real sensor behavior, small amounts of random noise are added to each simulated encoder measurement. This helps exercise the turret angle estimation and filtering logic under non-ideal conditions.

This simulation does not model turret dynamics such as inertia, acceleration limits, or closed-loop control behavior. Target angles are applied instantaneously.

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.subsystems.turret.TurretIO

TurretIO.TurretInputs

Field Summary

Fields

Modifier and Type	Field	Description
final SimPosition	turrentAngle

Constructor Summary

Constructors

Constructor	Description
TurretSim(Random random)

Method Summary

Modifier and Type	Method	Description
void	resetPosition(Angle angle)
void	setTargetAngle(Angle angle)	Commands the turret to move toward the specified target angle.
void	setTurretVoltage(Voltage volts)
void	updateInputs(TurretIO.TurretInputs inputs)	Updates the provided TurretIO.TurretInputs structure with the latest sensor values.

Methods inherited from class java.lang.Object

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

Field Details

turrentAngle

public final SimPosition turrentAngle

Constructor Details

TurretSim

public TurretSim(Random random)

Method Details

updateInputs

public void updateInputs(TurretIO.TurretInputs inputs)

Description copied from interface: TurretIO

Updates the provided TurretIO.TurretInputs structure with the latest sensor values.

Specified by:

updateInputs in interface TurretIO

setTurretVoltage

public void setTurretVoltage(Voltage volts)

Specified by:

setTurretVoltage in interface TurretIO

setTargetAngle

public void setTargetAngle(Angle angle)

Description copied from interface: TurretIO

Commands the turret to move toward the specified target angle.

Specified by:

setTargetAngle in interface TurretIO

resetPosition

public void resetPosition(Angle angle)

Specified by:

resetPosition in interface TurretIO