Package com.marslib.swerve

Class SwerveModuleIOSim

java.lang.Object

com.marslib.swerve.SwerveModuleIOSim

All Implemented Interfaces:

SwerveModuleIO

public class SwerveModuleIOSim
extends Object
implements SwerveModuleIO

Simulation IO layer for a single swerve module.

Both the drive and turn motor physics are handled by the maple-sim SwerveModuleSimulation.

Nested Class Summary

Nested classes/interfaces inherited from interface com.marslib.swerve.SwerveModuleIO

SwerveModuleIO.SwerveModuleIOInputs

Constructor Summary

Constructors

Constructor	Description
SwerveModuleIOSim(int moduleIndex)

Method Summary

Modifier and Type	Method	Description
double	getSimDriveVoltage()
double	getSimTurnVoltage()
void	setDriveVoltage(double volts)	Run the drive motor at the specified voltage.
void	setModuleSimulation(org.ironmaple.simulation.drivesims.SwerveModuleSimulation sim)
void	setTurnVoltage(double volts)	Run the turn motor at the specified voltage.
void	updateInputs(SwerveModuleIO.SwerveModuleIOInputs inputs)	Updates the set of loggable 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.swerve.SwerveModuleIO

setDriveBrakeMode, setTurnBrakeMode

Constructor Details

SwerveModuleIOSim

public SwerveModuleIOSim(int moduleIndex)

Method Details

setModuleSimulation

public void setModuleSimulation(org.ironmaple.simulation.drivesims.SwerveModuleSimulation sim)

updateInputs

public void updateInputs(SwerveModuleIO.SwerveModuleIOInputs inputs)

Description copied from interface: SwerveModuleIO

Updates the set of loggable inputs.

Specified by:

updateInputs in interface SwerveModuleIO

setDriveVoltage

public void setDriveVoltage(double volts)

Description copied from interface: SwerveModuleIO

Run the drive motor at the specified voltage.

Specified by:

setDriveVoltage in interface SwerveModuleIO

setTurnVoltage

public void setTurnVoltage(double volts)

Description copied from interface: SwerveModuleIO

Run the turn motor at the specified voltage.

Specified by:

setTurnVoltage in interface SwerveModuleIO

getSimDriveVoltage

public double getSimDriveVoltage()

getSimTurnVoltage

public double getSimTurnVoltage()