Package com.marslib.mechanisms

Class LinearMechanismIOSim

java.lang.Object

com.marslib.mechanisms.LinearMechanismIOSim

All Implemented Interfaces:

LinearMechanismIO

public class LinearMechanismIOSim
extends Object
implements LinearMechanismIO

Simulation implementation of the LinearMechanismIO interface. Uses Dyn4j to run a rigid-body physics simulation of a 1D elevator mechanism.

Nested Class Summary

Nested classes/interfaces inherited from interface com.marslib.mechanisms.LinearMechanismIO

LinearMechanismIO.LinearMechanismIOInputs

Constructor Summary

Constructors

Constructor	Description
LinearMechanismIOSim(String mechanismName, double gearRatio, double spoolDiameterMeters, double massKg)	Constructs a physical simulation instance for a 1D linear elevator mechanism.

Method Summary

Modifier and Type	Method	Description
void	setClosedLoopPosition(double positionMeters, double feedforwardVolts)	Runs a low latency closed-loop profile on motor with external feedforward.
void	setVoltage(double volts)
void	updateInputs(LinearMechanismIO.LinearMechanismIOInputs inputs)

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.marslib.mechanisms.LinearMechanismIO

setBrakeMode, setCurrentLimit

Constructor Details

LinearMechanismIOSim

public LinearMechanismIOSim(String mechanismName,
 double gearRatio,
 double spoolDiameterMeters,
 double massKg)

Constructs a physical simulation instance for a 1D linear elevator mechanism.

This models the mechanism as a Dyn4j prismatic joint and accurately calculates forces based on an attached Kraken X60 motor and the physical spool parameters.

Parameters:

mechanismName - The unique identifier used for AdvantageKit logging (e.g. "Elevator").

gearRatio - The total gear reduction from motor to spool (e.g., 25.0 for a 25:1 reduction).

spoolDiameterMeters - The diameter of the driven spool in meters.

massKg - The physical mass of the moving carriage and its load in kilograms.

Method Details

updateInputs

public void updateInputs(LinearMechanismIO.LinearMechanismIOInputs inputs)

Specified by:

updateInputs in interface LinearMechanismIO

setVoltage

public void setVoltage(double volts)

Specified by:

setVoltage in interface LinearMechanismIO

setClosedLoopPosition

public void setClosedLoopPosition(double positionMeters,
 double feedforwardVolts)

Description copied from interface: LinearMechanismIO

Runs a low latency closed-loop profile on motor with external feedforward.

Specified by:

setClosedLoopPosition in interface LinearMechanismIO