Package yams.core.motorcontrollers.simulation

package yams.core.motorcontrollers.simulation

Physics-based simulation suppliers for YAMS motor controllers.

Simulation suppliers bridge WPILib's simulation framework and YAMS motor controller wrappers. Pass an instance to SmartMotorControllerConfig via withSimSupplier() to enable physics-accurate simulation without changing mechanism code.

• ArmSimSupplier single-jointed arm physics
• DCMotorSimSupplier generic DC motor physics
• Sensor and SensorData simulated encoder/sensor state

Related Packages

Package	Description
yams.core.motorcontrollers	Hardware-agnostic motor controller abstractions for FRC mechanisms.
yams.core.motorcontrollers.enums	Enums used to configure a SmartMotorController: control mode and zero power mode.
yams.core.motorcontrollers.local	REV Robotics motor controller wrappers whose closed-loop control runs on the roboRIO.
yams.core.motorcontrollers.remote	CTRE motor controller wrappers whose closed-loop control runs on the motor controller itself.

Class	Description
ArmSimSupplier	ArmSim Supplier simulates a single-jointed arm mechanism using WPILib's SingleJointedArmSim.
BatterySim	Battery Simulation that takes the entirety of the robot into account by storing all currently used currents on the robot.
DCMotorSimSupplier	DCMotorSim Supplier simulates a generic DC motor load (flywheel, roller, or elevator) using WPILib's DCMotorSim.
ElevatorSimSupplier	ElevatorSim Supplier simulates an elevator mechanism using WPILib's ElevatorSim.
Sensor	Sensor class using SimDevice; All fields will use the given supplier on real robots.
SensorData	Sensor data class to encapsulate sensor data.
SensorData.HALValueType	HALValue type enum.