Package swervelib.simulation

Class SwerveModuleSimulation

java.lang.Object

swervelib.simulation.SwerveModuleSimulation

public class SwerveModuleSimulation
extends Object

Class to hold simulation data for SwerveModule

Field Summary

Fields

Modifier and Type	Field	Description
private double	dt	Time delta since last update
private double	fakePos	Fake motor position.
private double	fakeSpeed	The fake speed of the previous state, used to calculate fakePos.
private double	lastTime	Last time queried.
private SwerveModuleState2	state	Current simulated swerve module state.
private final edu.wpi.first.wpilibj.Timer	timer	Main timer to simulate the passage of time.

Constructor Summary

Constructors

Constructor	Description
SwerveModuleSimulation()	Create simulation class and initialize module at 0.

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.math.kinematics.SwerveModulePosition	getPosition()	Get the simulated swerve module position.
SwerveModuleState2	getState()	Get the SwerveModuleState2 of the simulated module.
void	updateStateAndPosition(SwerveModuleState2 desiredState)	Update the position and state of the module.

Methods inherited from class java.lang.Object

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

Field Details

timer

private final edu.wpi.first.wpilibj.Timer timer

Main timer to simulate the passage of time.

dt

private double dt

Time delta since last update

fakePos

private double fakePos

Fake motor position.

fakeSpeed

private double fakeSpeed

The fake speed of the previous state, used to calculate fakePos.

lastTime

private double lastTime

Last time queried.

state

private SwerveModuleState2 state

Current simulated swerve module state.

Constructor Details

SwerveModuleSimulation

public SwerveModuleSimulation()

Create simulation class and initialize module at 0.

Method Details

updateStateAndPosition

public void updateStateAndPosition(SwerveModuleState2 desiredState)

Update the position and state of the module. Called from SwerveModule.setDesiredState(swervelib.math.SwerveModuleState2, boolean, boolean) function when simulated.

Parameters:

desiredState - State the swerve module is set to.

getPosition

public edu.wpi.first.math.kinematics.SwerveModulePosition getPosition()

Get the simulated swerve module position.

Returns:

SwerveModulePosition of the simulated module.

getState

public SwerveModuleState2 getState()

Get the SwerveModuleState2 of the simulated module.

Returns:

SwerveModuleState2 of the simulated module.