Package frc.robot.subsystems.swerve

Class SwerveSim

java.lang.Object

frc.robot.subsystems.swerve.SwerveSim

All Implemented Interfaces:

SwerveIO

@NullMarked
public final class SwerveSim
extends Object
implements SwerveIO

Simulation implementation for swerve

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.subsystems.swerve.SwerveIO

SwerveIO.SwerveInputs

Field Summary

Fields

Modifier and Type	Field	Description
final org.ironmaple.simulation.drivesims.SwerveDriveSimulation	mapleSim

Constructor Summary

Constructors

Constructor	Description
SwerveSim(Pose2d initialPose)	Simulation implementation for swerve

Method Summary

Modifier and Type	Method	Description
GyroIO	gyroProvider(PhoenixOdometryThread odometryThread)	Supplier passed into Swerve constructor
SwerveModuleIO	moduleProvider(int index, PhoenixOdometryThread odometryThread)	Supplier passed into Swerve constructor
void	resetPose(Pose2d pose)	Set the ground truth pose.
SwerveSim	simProvider(PhoenixOdometryThread odometryThread)	Supplier passed into Swerve constructor
void	updateInputs(SwerveIO.SwerveInputs inputs)	Update inputs

Methods inherited from class java.lang.Object

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

Field Details

mapleSim

public final org.ironmaple.simulation.drivesims.SwerveDriveSimulation mapleSim

Constructor Details

SwerveSim

public SwerveSim(Pose2d initialPose)

Simulation implementation for swerve

Method Details

simProvider

public SwerveSim simProvider(PhoenixOdometryThread odometryThread)

Supplier passed into Swerve constructor

gyroProvider

public GyroIO gyroProvider(PhoenixOdometryThread odometryThread)

Supplier passed into Swerve constructor

moduleProvider

public SwerveModuleIO moduleProvider(int index,
 PhoenixOdometryThread odometryThread)

Supplier passed into Swerve constructor

updateInputs

public void updateInputs(SwerveIO.SwerveInputs inputs)

Description copied from interface: SwerveIO

Update inputs

Specified by:

updateInputs in interface SwerveIO

resetPose

public void resetPose(Pose2d pose)

Description copied from interface: SwerveIO

Set the ground truth pose. Only useful in sim.

Specified by:

resetPose in interface SwerveIO