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364 lines
23 KiB
HTML
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<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
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<li>Detail: </li>
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<div class="sub-title"><span class="package-label-in-type">Package</span> <a href="package-summary.html">swervelib.simulation.ctre</a></div>
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<h1 title="Class PhysicsSim" class="title">Class PhysicsSim</h1>
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</div>
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<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
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<div class="inheritance">swervelib.simulation.ctre.PhysicsSim</div>
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</div>
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<section class="class-description" id="class-description">
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<hr>
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<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">PhysicsSim</span>
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<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
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<div class="block">Manages physics simulation for CTRE products.</div>
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</section>
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<section class="summary">
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<ul class="summary-list">
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<!-- ======== NESTED CLASS SUMMARY ======== -->
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<li>
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<section class="nested-class-summary" id="nested-class-summary">
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<h2>Nested Class Summary</h2>
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<div class="caption"><span>Nested Classes</span></div>
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<div class="summary-table three-column-summary">
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<div class="table-header col-first">Modifier and Type</div>
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<div class="table-header col-second">Class</div>
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<div class="table-header col-last">Description</div>
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<div class="col-first even-row-color"><code>(package private) static class </code></div>
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<div class="col-second even-row-color"><code><a href="PhysicsSim.SimProfile.html" class="type-name-link" title="class in swervelib.simulation.ctre">PhysicsSim.SimProfile</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Holds information about a simulated device.</div>
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</div>
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</div>
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</section>
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</li>
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<!-- =========== FIELD SUMMARY =========== -->
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<li>
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<section class="field-summary" id="field-summary">
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<h2>Field Summary</h2>
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<div class="caption"><span>Fields</span></div>
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<div class="summary-table three-column-summary">
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<div class="table-header col-first">Modifier and Type</div>
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<div class="table-header col-second">Field</div>
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<div class="table-header col-last">Description</div>
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<div class="col-first even-row-color"><code>private final <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/ArrayList.html" title="class or interface in java.util" class="external-link">ArrayList</a><<a href="PhysicsSim.SimProfile.html" title="class in swervelib.simulation.ctre">PhysicsSim.SimProfile</a>></code></div>
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<div class="col-second even-row-color"><code><a href="#_simProfiles" class="member-name-link">_simProfiles</a></code></div>
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<div class="col-last even-row-color"> </div>
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<div class="col-first odd-row-color"><code>private static final <a href="PhysicsSim.html" title="class in swervelib.simulation.ctre">PhysicsSim</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#sim" class="member-name-link">sim</a></code></div>
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<div class="col-last odd-row-color"> </div>
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</div>
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</section>
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</li>
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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<li>
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<section class="constructor-summary" id="constructor-summary">
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<h2>Constructor Summary</h2>
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<div class="caption"><span>Constructors</span></div>
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<div class="summary-table two-column-summary">
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<div class="table-header col-first">Constructor</div>
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<div class="table-header col-last">Description</div>
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<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">PhysicsSim</a>()</code></div>
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<div class="col-last even-row-color"> </div>
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</div>
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</section>
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</li>
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<!-- ========== METHOD SUMMARY =========== -->
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<li>
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<section class="method-summary" id="method-summary">
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<h2>Method Summary</h2>
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<div id="method-summary-table">
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<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab1" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab1', 3)" class="table-tab">Static Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
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<div id="method-summary-table.tabpanel" role="tabpanel">
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<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
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<div class="table-header col-first">Modifier and Type</div>
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<div class="table-header col-second">Method</div>
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<div class="table-header col-last">Description</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#addTalonFX(com.ctre.phoenix.motorcontrol.can.TalonFX,double,double)" class="member-name-link">addTalonFX</a><wbr>(com.ctre.phoenix.motorcontrol.can.TalonFX falcon,
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double accelToFullTime,
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double fullVel)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Adds a TalonFX controller to the simulator.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#addTalonFX(com.ctre.phoenix.motorcontrol.can.TalonFX,double,double,boolean)" class="member-name-link">addTalonFX</a><wbr>(com.ctre.phoenix.motorcontrol.can.TalonFX falcon,
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double accelToFullTime,
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double fullVel,
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boolean sensorPhase)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Adds a TalonFX controller to the simulator.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#addTalonSRX(com.ctre.phoenix.motorcontrol.can.TalonSRX,double,double)" class="member-name-link">addTalonSRX</a><wbr>(com.ctre.phoenix.motorcontrol.can.TalonSRX talon,
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double accelToFullTime,
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double fullVel)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Adds a TalonSRX controller to the simulator.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#addTalonSRX(com.ctre.phoenix.motorcontrol.can.TalonSRX,double,double,boolean)" class="member-name-link">addTalonSRX</a><wbr>(com.ctre.phoenix.motorcontrol.can.TalonSRX talon,
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double accelToFullTime,
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double fullVel,
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boolean sensorPhase)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Adds a TalonSRX controller to the simulator.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#addVictorSPX(com.ctre.phoenix.motorcontrol.can.VictorSPX)" class="member-name-link">addVictorSPX</a><wbr>(com.ctre.phoenix.motorcontrol.can.VictorSPX victor)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Adds a VictorSPX controller to the simulator.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="PhysicsSim.html" title="class in swervelib.simulation.ctre">PhysicsSim</a></code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#getInstance()" class="member-name-link">getInstance</a>()</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Gets the robot simulator instance.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>(package private) static double</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#random(double)" class="member-name-link">random</a><wbr>(double max)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"> </div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>(package private) static double</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#random(double,double)" class="member-name-link">random</a><wbr>(double min,
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double max)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"> </div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#run()" class="member-name-link">run</a>()</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Runs the simulator: - enable the robot - simulate sensors</div>
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</div>
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</div>
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</div>
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</div>
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<div class="inherited-list">
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<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
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<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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</section>
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</li>
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</ul>
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</section>
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<section class="details">
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<ul class="details-list">
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<!-- ============ FIELD DETAIL =========== -->
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<li>
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<section class="field-details" id="field-detail">
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<h2>Field Details</h2>
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<ul class="member-list">
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<li>
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<section class="detail" id="sim">
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<h3>sim</h3>
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<div class="member-signature"><span class="modifiers">private static final</span> <span class="return-type"><a href="PhysicsSim.html" title="class in swervelib.simulation.ctre">PhysicsSim</a></span> <span class="element-name">sim</span></div>
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</section>
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</li>
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<li>
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<section class="detail" id="_simProfiles">
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<h3>_simProfiles</h3>
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<div class="member-signature"><span class="modifiers">private final</span> <span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/ArrayList.html" title="class or interface in java.util" class="external-link">ArrayList</a><<a href="PhysicsSim.SimProfile.html" title="class in swervelib.simulation.ctre">PhysicsSim.SimProfile</a>></span> <span class="element-name">_simProfiles</span></div>
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</section>
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</li>
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</ul>
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</section>
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</li>
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<!-- ========= CONSTRUCTOR DETAIL ======== -->
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<li>
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<section class="constructor-details" id="constructor-detail">
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<h2>Constructor Details</h2>
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<ul class="member-list">
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<li>
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<section class="detail" id="<init>()">
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<h3>PhysicsSim</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">PhysicsSim</span>()</div>
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</section>
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</li>
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</ul>
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</section>
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</li>
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<!-- ============ METHOD DETAIL ========== -->
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<li>
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<section class="method-details" id="method-detail">
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<h2>Method Details</h2>
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<ul class="member-list">
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<li>
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<section class="detail" id="getInstance()">
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<h3>getInstance</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type"><a href="PhysicsSim.html" title="class in swervelib.simulation.ctre">PhysicsSim</a></span> <span class="element-name">getInstance</span>()</div>
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<div class="block">Gets the robot simulator instance.</div>
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<dl class="notes">
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<dt>Returns:</dt>
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<dd><a href="PhysicsSim.html" title="class in swervelib.simulation.ctre"><code>PhysicsSim</code></a> instance.</dd>
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</dl>
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</section>
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</li>
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<li>
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<section class="detail" id="random(double,double)">
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<h3>random</h3>
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<div class="member-signature"><span class="modifiers">static</span> <span class="return-type">double</span> <span class="element-name">random</span><wbr><span class="parameters">(double min,
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double max)</span></div>
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</section>
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</li>
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<li>
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<section class="detail" id="random(double)">
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<h3>random</h3>
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<div class="member-signature"><span class="modifiers">static</span> <span class="return-type">double</span> <span class="element-name">random</span><wbr><span class="parameters">(double max)</span></div>
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</section>
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</li>
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<li>
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<section class="detail" id="addTalonSRX(com.ctre.phoenix.motorcontrol.can.TalonSRX,double,double)">
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<h3>addTalonSRX</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">addTalonSRX</span><wbr><span class="parameters">(com.ctre.phoenix.motorcontrol.can.TalonSRX talon,
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double accelToFullTime,
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double fullVel)</span></div>
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<div class="block">Adds a TalonSRX controller to the simulator.</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>talon</code> - The TalonSRX device</dd>
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<dd><code>accelToFullTime</code> - The time the motor takes to accelerate from 0 to full, in seconds</dd>
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<dd><code>fullVel</code> - The maximum motor velocity, in ticks per 100ms</dd>
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</dl>
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</section>
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</li>
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<li>
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<section class="detail" id="addTalonSRX(com.ctre.phoenix.motorcontrol.can.TalonSRX,double,double,boolean)">
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<h3>addTalonSRX</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">addTalonSRX</span><wbr><span class="parameters">(com.ctre.phoenix.motorcontrol.can.TalonSRX talon,
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double accelToFullTime,
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double fullVel,
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boolean sensorPhase)</span></div>
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<div class="block">Adds a TalonSRX controller to the simulator.</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>talon</code> - The TalonSRX device</dd>
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<dd><code>accelToFullTime</code> - The time the motor takes to accelerate from 0 to full, in seconds</dd>
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<dd><code>fullVel</code> - The maximum motor velocity, in ticks per 100ms</dd>
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<dd><code>sensorPhase</code> - The phase of the TalonSRX sensors</dd>
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</dl>
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</section>
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</li>
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<li>
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<section class="detail" id="addTalonFX(com.ctre.phoenix.motorcontrol.can.TalonFX,double,double)">
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<h3>addTalonFX</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">addTalonFX</span><wbr><span class="parameters">(com.ctre.phoenix.motorcontrol.can.TalonFX falcon,
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double accelToFullTime,
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double fullVel)</span></div>
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<div class="block">Adds a TalonFX controller to the simulator.</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>falcon</code> - The TalonFX device</dd>
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<dd><code>accelToFullTime</code> - The time the motor takes to accelerate from 0 to full, in seconds</dd>
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<dd><code>fullVel</code> - The maximum motor velocity, in ticks per 100ms</dd>
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</dl>
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</section>
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</li>
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<li>
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<section class="detail" id="addTalonFX(com.ctre.phoenix.motorcontrol.can.TalonFX,double,double,boolean)">
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<h3>addTalonFX</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">addTalonFX</span><wbr><span class="parameters">(com.ctre.phoenix.motorcontrol.can.TalonFX falcon,
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double accelToFullTime,
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double fullVel,
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boolean sensorPhase)</span></div>
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<div class="block">Adds a TalonFX controller to the simulator.</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>falcon</code> - The TalonFX device</dd>
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<dd><code>accelToFullTime</code> - The time the motor takes to accelerate from 0 to full, in seconds</dd>
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<dd><code>fullVel</code> - The maximum motor velocity, in ticks per 100ms</dd>
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<dd><code>sensorPhase</code> - The phase of the TalonFX sensors</dd>
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</dl>
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</section>
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</li>
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<li>
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<section class="detail" id="addVictorSPX(com.ctre.phoenix.motorcontrol.can.VictorSPX)">
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<h3>addVictorSPX</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">addVictorSPX</span><wbr><span class="parameters">(com.ctre.phoenix.motorcontrol.can.VictorSPX victor)</span></div>
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<div class="block">Adds a VictorSPX controller to the simulator.</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>victor</code> - The VictorSPX device</dd>
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</dl>
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</section>
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</li>
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<li>
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<section class="detail" id="run()">
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<h3>run</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">run</span>()</div>
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<div class="block">Runs the simulator: - enable the robot - simulate sensors</div>
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</section>
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</li>
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</ul>
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</section>
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</li>
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</ul>
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</section>
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<!-- ========= END OF CLASS DATA ========= -->
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