Package yams.motorcontrollers

Interface SimSupplier

All Known Implementing Classes:
ArmSimSupplier, DCMotorSimSupplier
public interface SimSupplier
Provides sim functions for

  • 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

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

    • getMechanismStatorVoltage

      Voltage getMechanismStatorVoltage()
      Get the mechanism stator voltage.
      Returns:
      Stator voltage of the mechanism.

    • setMechanismStatorVoltage

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

    • getMechanismPosition

      Angle getMechanismPosition()
      Get the mechanism position.
      Returns:
      mechanism angle.

    • setMechanismPosition

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

    • getRotorPosition

      Angle getRotorPosition()
      Get the rotor position.
      Returns:
      rotor position.

    • getMechanismVelocity

      AngularVelocity getMechanismVelocity()
      Get the mechanism velocity.
      Returns:
      Mechanism velocity.

    • setMechanismVelocity

      void setMechanismVelocity(AngularVelocity velocity)
      Set the Mechanism velocity.
      Parameters:
      velocity - Mechanism velocity.

    • getRotorVelocity

      AngularVelocity getRotorVelocity()
      Get the rotor velocity.
      Returns:
      rotor velocity.

    • getCurrentDraw

      Current getCurrentDraw()
      Get the current draw of from the sim.
      Returns:
      Current draw.