Package swervelib.simulation

Class SwerveModuleSimulation

java.lang.Object

swervelib.simulation.SwerveModuleSimulation

public class SwerveModuleSimulation
extends Object

Class to hold simulation data for SwerveModule

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.
edu.wpi.first.math.kinematics.SwerveModuleState	getState()	Get the SwerveModuleState of the simulated module.
void	updateStateAndPosition(edu.wpi.first.math.kinematics.SwerveModuleState 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

Constructor Details

SwerveModuleSimulation

public SwerveModuleSimulation()

Create simulation class and initialize module at 0.

Method Details

updateStateAndPosition

public void updateStateAndPosition(edu.wpi.first.math.kinematics.SwerveModuleState desiredState)

Update the position and state of the module. Called from SwerveModule.setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState, 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 edu.wpi.first.math.kinematics.SwerveModuleState getState()

Get the SwerveModuleState of the simulated module.

Returns:

SwerveModuleState of the simulated module.