Package swervelib.simulation

Class SwerveModuleSimulation

java.lang.Object

swervelib.simulation.SwerveModuleSimulation

public class SwerveModuleSimulation
extends Object

Class that wraps around SwerveModuleSimulation

Field Summary

Fields

Modifier and Type	Field	Description
SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation	mapleSimModule	MapleSim module.

Constructor Summary

Constructors

Constructor	Description
SwerveModuleSimulation()

Method Summary

Modifier and Type	Method	Description
void	configureSimModule(SwerveModuleSimulation simModule, SwerveModulePhysicalCharacteristics physicalCharacteristics)	Configure the maple sim module
SwerveModulePosition	getPosition()	Get the simulated swerve module position.
SwerveModuleState	getState()	Get the SwerveModuleState of the simulated module.
void	runAngleMotorCharacterization(double volts)	Runs a drive motor characterization on the sim module.
void	runDriveMotorCharacterization(Rotation2d desiredFacing, double volts)	Runs a drive motor characterization on the sim module.
void	updateStateAndPosition(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

Field Details

mapleSimModule

public SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation mapleSimModule

MapleSim module.

Constructor Details

SwerveModuleSimulation

public SwerveModuleSimulation()

Method Details

configureSimModule

public void configureSimModule(SwerveModuleSimulation simModule,
 SwerveModulePhysicalCharacteristics physicalCharacteristics)

Configure the maple sim module

Parameters:

simModule - the SwerveModuleSimulation object for simulation

physicalCharacteristics - Physical characteristics of the swerve drive from the JSON or built.

updateStateAndPosition

public void updateStateAndPosition(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.

runDriveMotorCharacterization

public void runDriveMotorCharacterization(Rotation2d desiredFacing,
 double volts)

Runs a drive motor characterization on the sim module. This is called from SwerveDriveTest.runDriveMotorsCharacterizationOnSimModules(SwerveDrive, double, boolean) to run sysId during simulation

Parameters:

desiredFacing - the desired facing of the module

volts - the voltage to run

runAngleMotorCharacterization

public void runAngleMotorCharacterization(double volts)

Runs a drive motor characterization on the sim module. This method is called from SwerveDriveTest.runAngleMotorsCharacterizationOnSimModules(SwerveDrive, double) to run sysId during simulation

Parameters:

volts - the voltage to run

getPosition

public SwerveModulePosition getPosition()

Get the simulated swerve module position.

Returns:

SwerveModulePosition of the simulated module.

getState

public SwerveModuleState getState()

Get the SwerveModuleState of the simulated module.

Returns:

SwerveModuleState of the simulated module.