Updated docs, renamed SwerveDrive lock function and setBrake function

swervelib/simulation/SwerveModuleSimulation.java

@@ -0,0 +1,88 @@
+package swervelib.simulation;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.kinematics.SwerveModulePosition;
+import edu.wpi.first.wpilibj.Timer;
+import swervelib.math.SwerveModuleState2;
+
+/**
+ * Class to hold simulation data for {@link swervelib.SwerveModule}
+ */
+public class SwerveModuleSimulation
+{
+
+  /**
+   * Main timer to simulate the passage of time.
+   */
+  private final Timer              timer;
+  /**
+   * Time delta since last update
+   */
+  private       double             dt;
+  /**
+   * Fake motor position.
+   */
+  private       double             fakePos;
+  /**
+   * The fake speed of the previous state, used to calculate {@link SwerveModuleSimulation#fakePos}.
+   */
+  private       double             fakeSpeed;
+  /**
+   * Last time queried.
+   */
+  private       double             lastTime;
+  /**
+   * Current simulated swerve module state.
+   */
+  private       SwerveModuleState2 state;
+
+  /**
+   * Create simulation class and initialize module at 0.
+   */
+  public SwerveModuleSimulation()
+  {
+    timer = new Timer();
+    timer.start();
+    lastTime = timer.get();
+    state = new SwerveModuleState2(0, Rotation2d.fromDegrees(0), 0);
+    fakeSpeed = 0;
+    fakePos = 0;
+    dt = 0;
+  }
+
+  /**
+   * Update the position and state of the module. Called from {@link swervelib.SwerveModule#setDesiredState} function
+   * when simulated.
+   *
+   * @param desiredState State the swerve module is set to.
+   */
+  public void updateStateAndPosition(SwerveModuleState2 desiredState)
+  {
+    dt = timer.get() - lastTime;
+    fakePos += (fakeSpeed * dt);
+    lastTime = timer.get();
+
+    state = desiredState;
+    fakeSpeed = desiredState.speedMetersPerSecond;
+  }
+
+  /**
+   * Get the simulated swerve module position.
+   *
+   * @return {@link SwerveModulePosition} of the simulated module.
+   */
+  public SwerveModulePosition getPosition()
+  {
+    return new SwerveModulePosition(fakePos, state.angle.plus(new Rotation2d(state.omegaRadPerSecond * dt)));
+  }
+
+  /**
+   * Get the {@link SwerveModuleState2} of the simulated module.
+   *
+   * @return {@link SwerveModuleState2} of the simulated module.
+   */
+  public SwerveModuleState2 getState()
+  {
+    return state;
+  }
+}