Package com.marslib.mechanisms

Class RotaryMechanismIOSim

java.lang.Object

com.marslib.mechanisms.RotaryMechanismIOSim

All Implemented Interfaces:

RotaryMechanismIO

public class RotaryMechanismIOSim
extends Object
implements RotaryMechanismIO

Simulation implementation of the RotaryMechanismIO interface. Uses Dyn4j to run a rigid-body physics simulation of a 1D rotary arm mechanism.

Nested Class Summary

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

RotaryMechanismIO.RotaryMechanismIOInputs

Constructor Summary

Constructors

Constructor	Description
RotaryMechanismIOSim(String mechanismName, double gearRatio, double jKgMetersSquared, double lengthMeters)	Constructs a physical simulation instance for a 1D rotary arm mechanism.

Method Summary

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

setBrakeMode, setCurrentLimit, setEncoderPosition

Constructor Details

RotaryMechanismIOSim

public RotaryMechanismIOSim(String mechanismName,
 double gearRatio,
 double jKgMetersSquared,
 double lengthMeters)

Constructs a physical simulation instance for a 1D rotary arm mechanism.

This models the mechanism as a Dyn4j revolute joint and accurately calculates rotational inertia and forces based on an attached Kraken X60 motor.

Parameters:

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

gearRatio - The total gear reduction from motor to arm axis.

jKgMetersSquared - The total moment of inertia of the rotating arm in kg*m^2.

lengthMeters - The physical extended length of the arm for visualization and density mapping.

Method Details

updateInputs

public void updateInputs(RotaryMechanismIO.RotaryMechanismIOInputs inputs)

Specified by:

updateInputs in interface RotaryMechanismIO

setVoltage

public void setVoltage(double volts)

Specified by:

setVoltage in interface RotaryMechanismIO

setClosedLoopPosition

public void setClosedLoopPosition(double positionRad,
 double feedforwardVolts)

Description copied from interface: RotaryMechanismIO

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

Specified by:

setClosedLoopPosition in interface RotaryMechanismIO