Package swervelib.simulation.ctre

Class PhysicsSim

java.lang.Object
swervelib.simulation.ctre.PhysicsSim
public class PhysicsSim extends Object
Manages physics simulation for CTRE products.

  • Constructor Summary

    Constructors
    Constructor
    Description
    PhysicsSim()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    addTalonFX(com.ctre.phoenix.motorcontrol.can.TalonFX falcon, double accelToFullTime, double fullVel)
    Adds a TalonFX controller to the simulator.
    void
    addTalonFX(com.ctre.phoenix.motorcontrol.can.TalonFX falcon, double accelToFullTime, double fullVel, boolean sensorPhase)
    Adds a TalonFX controller to the simulator.
    void
    addTalonSRX(com.ctre.phoenix.motorcontrol.can.TalonSRX talon, double accelToFullTime, double fullVel)
    Adds a TalonSRX controller to the simulator.
    void
    addTalonSRX(com.ctre.phoenix.motorcontrol.can.TalonSRX talon, double accelToFullTime, double fullVel, boolean sensorPhase)
    Adds a TalonSRX controller to the simulator.
    void
    addVictorSPX(com.ctre.phoenix.motorcontrol.can.VictorSPX victor)
    Adds a VictorSPX controller to the simulator.
    static PhysicsSim
    getInstance()
    Gets the robot simulator instance.
    void
    run()
    Runs the simulator: - enable the robot - simulate sensors

    Methods inherited from class java.lang.Object

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

  • Constructor Details

    • PhysicsSim

      public PhysicsSim()

  • Method Details

    • getInstance

      public static PhysicsSim getInstance()
      Gets the robot simulator instance.
      Returns:
      PhysicsSim instance.

    • addTalonSRX

      public void addTalonSRX(com.ctre.phoenix.motorcontrol.can.TalonSRX talon, double accelToFullTime, double fullVel)
      Adds a TalonSRX controller to the simulator.
      Parameters:
      talon - The TalonSRX device
      accelToFullTime - The time the motor takes to accelerate from 0 to full, in seconds
      fullVel - The maximum motor velocity, in ticks per 100ms

    • addTalonSRX

      public void addTalonSRX(com.ctre.phoenix.motorcontrol.can.TalonSRX talon, double accelToFullTime, double fullVel, boolean sensorPhase)
      Adds a TalonSRX controller to the simulator.
      Parameters:
      talon - The TalonSRX device
      accelToFullTime - The time the motor takes to accelerate from 0 to full, in seconds
      fullVel - The maximum motor velocity, in ticks per 100ms
      sensorPhase - The phase of the TalonSRX sensors

    • addTalonFX

      public void addTalonFX(com.ctre.phoenix.motorcontrol.can.TalonFX falcon, double accelToFullTime, double fullVel)
      Adds a TalonFX controller to the simulator.
      Parameters:
      falcon - The TalonFX device
      accelToFullTime - The time the motor takes to accelerate from 0 to full, in seconds
      fullVel - The maximum motor velocity, in ticks per 100ms

    • addTalonFX

      public void addTalonFX(com.ctre.phoenix.motorcontrol.can.TalonFX falcon, double accelToFullTime, double fullVel, boolean sensorPhase)
      Adds a TalonFX controller to the simulator.
      Parameters:
      falcon - The TalonFX device
      accelToFullTime - The time the motor takes to accelerate from 0 to full, in seconds
      fullVel - The maximum motor velocity, in ticks per 100ms
      sensorPhase - The phase of the TalonFX sensors

    • addVictorSPX

      public void addVictorSPX(com.ctre.phoenix.motorcontrol.can.VictorSPX victor)
      Adds a VictorSPX controller to the simulator.
      Parameters:
      victor - The VictorSPX device

    • run

      public void run()
      Runs the simulator: - enable the robot - simulate sensors