Added support for Falcons, and the ability to disable the CANCoders

swervelib/simulation/ctre/VictorSPXSimProfile.java

@@ -0,0 +1,41 @@
+package swervelib.simulation.ctre;
+
+
+import static swervelib.simulation.ctre.PhysicsSim.random;
+
+import com.ctre.phoenix.motorcontrol.can.VictorSPX;
+import swervelib.simulation.ctre.PhysicsSim.SimProfile;
+
+/**
+ * Holds information about a simulated VictorSPX.
+ */
+class VictorSPXSimProfile extends SimProfile
+{
+
+  public final VictorSPX _victor;
+
+  /**
+   * Creates a new simulation profile for a VictorSPX device.
+   *
+   * @param victor The VictorSPX device
+   */
+  public VictorSPXSimProfile(final VictorSPX victor)
+  {
+    this._victor = victor;
+  }
+
+  /**
+   * Runs the simulation profile.
+   * <p>
+   * This uses very rudimentary physics simulation and exists to allow users to test features of our products in
+   * simulation using our examples out of the box. Users may modify this to utilize more accurate physics simulation.
+   */
+  public void run()
+  {
+    // final double period = getPeriod();
+
+    // Device voltage simulation
+    double outPerc = _victor.getSimCollection().getMotorOutputLeadVoltage() / 12;
+    _victor.getSimCollection().setBusVoltage(12 - outPerc * outPerc * 3 / 4 * random(0.95, 1.05));
+  }
+}