Interface SimSupplier

All Known Implementing Classes:
ArmSimSupplier, DCMotorSimSupplier, ElevatorSimSupplier
public interface SimSupplier
Provides sim functions for a YAMS simulated mechanism.

SimSupplier is the abstract bridge between WPILib's physics simulation models (such as SingleJointedArmSim and DCMotorSim) and YAMS SmartMotorController wrappers. Concrete implementations translate the simulation state position, velocity, current draw, voltage into the typed unit-safe values that YAMS motor controller wrappers consume each control loop.

On a real robot the motor controller hardware provides these values; in simulation a SimSupplier steps the physics model forward and exposes the same interface so that mechanism and control code requires no changes between real and simulated runs.

How to use

Create a concrete SimSupplier (e.g. ArmSimSupplier or DCMotorSimSupplier) and pass it to SmartMotorControllerConfig via withSimSupplier(): 

// Create the WPILib physics model
SingleJointedArmSim armPhysics = new SingleJointedArmSim(
    DCMotor.getNEO(1),
    SingleJointedArmSim.estimateMOI(0.5, 2.0),
    5.0,
    0.5,
    Units.degreesToRadians(-10),
    Units.degreesToRadians(90),
    true,
    0);

// Wrap it in a YAMS supplier
SmartMotorControllerConfig config = new SmartMotorControllerConfig()
    // ... other config ...
    .withSimSupplier(new ArmSimSupplier(armPhysics, motorController));

Implementations must advance the physics model on each control loop tick via updateSimState(), and signal readiness through the watchdog helpers ( feedUpdateSim()/starveUpdateSim()).

  • Method Details

    • updateSimState

      void updateSimState()
      Update the sim state.

    • getUpdatedSim

      boolean getUpdatedSim()
      Get the updated sim watchdog.
      Returns:
      Updated sim.

    • feedUpdateSim

      void feedUpdateSim()
      Feed the update sim watch

    • starveUpdateSim

      void starveUpdateSim()
      Starve the update sim watch.

    • isInputFed

      boolean isInputFed()
      Check if the input was fed.
      Returns:
      Input fed.

    • feedInput

      void feedInput()
      Feed input

    • starveInput

      void starveInput()
      Starve the input.

    • setMechanismStatorDutyCycle

      void setMechanismStatorDutyCycle(double dutyCycle)
      Set the dutycyle of the mechanism stator.
      Parameters:
      dutyCycle - Dutycycle value.

    • getMechanismSupplyVoltage

      org.wpilib.units.measure.Voltage getMechanismSupplyVoltage()
      Gets the supply voltage for the motor controller.
      Returns:
      Supply voltage to the motor controller

    • getMechanismStatorVoltage

      org.wpilib.units.measure.Voltage getMechanismStatorVoltage()
      Get the mechanism stator voltage.
      Returns:
      Stator voltage of the mechanism.

    • setMechanismStatorVoltage

      void setMechanismStatorVoltage(org.wpilib.units.measure.Voltage volts)
      Set mechanism voltage, mostly used for SysId testing.
      Parameters:
      volts - Voltage to set.

    • getMechanismPosition

      org.wpilib.units.measure.Angle getMechanismPosition()
      Get the mechanism position.
      Returns:
      mechanism angle.

    • setMechanismPosition

      void setMechanismPosition(org.wpilib.units.measure.Angle position)
      Set the Mechanism position
      Parameters:
      position - Position of the mechanism.

    • getRotorPosition

      org.wpilib.units.measure.Angle getRotorPosition()
      Get the rotor position.
      Returns:
      rotor position.

    • getMechanismVelocity

      org.wpilib.units.measure.AngularVelocity getMechanismVelocity()
      Get the mechanism velocity.
      Returns:
      Mechanism velocity.

    • setMechanismVelocity

      void setMechanismVelocity(org.wpilib.units.measure.AngularVelocity velocity)
      Set the Mechanism velocity.
      Parameters:
      velocity - Mechanism velocity.

    • getRotorVelocity

      org.wpilib.units.measure.AngularVelocity getRotorVelocity()
      Get the rotor velocity.
      Returns:
      rotor velocity.

    • getStatorCurrent

      org.wpilib.units.measure.Current getStatorCurrent()
      Get the stator current draw of from the sim.
      Returns:
      stator current draw.

    • getSupplyCurrent

      org.wpilib.units.measure.Current getSupplyCurrent()
      Get the supply current draw of the motor controller.
      Returns:
      supply current draw.

    • getRotorAcceleration

      org.wpilib.units.measure.AngularAcceleration getRotorAcceleration()
      Get the rotor acceleration.
      Returns:
      Rotor acceleration.