Package com.marswars.util

Class PhoenixUtil.TalonFXMotorControllerWithRemoteCancoderSim

java.lang.Object

com.marswars.util.PhoenixUtil.TalonFXMotorControllerSim

com.marswars.util.PhoenixUtil.TalonFXMotorControllerWithRemoteCancoderSim

All Implemented Interfaces:

SimulatedMotorController

Enclosing class:

PhoenixUtil

public static class PhoenixUtil.TalonFXMotorControllerWithRemoteCancoderSim
extends PhoenixUtil.TalonFXMotorControllerSim

Nested Class Summary

Nested classes/interfaces inherited from interface org.ironmaple.simulation.motorsims.SimulatedMotorController

SimulatedMotorController.GenericMotorController

Field Summary

Fields inherited from class com.marswars.util.PhoenixUtil.TalonFXMotorControllerSim

id

Constructor Summary

Constructors

Constructor	Description
TalonFXMotorControllerWithRemoteCancoderSim(TalonFX talonFX, CANcoder cancoder)	Creates a simulated motor controller for a TalonFX motor with a remote CANcoder.

Method Summary

Modifier and Type	Method	Description
Voltage	updateControlSignal(Angle mechanismAngle, AngularVelocity mechanismVelocity, Angle encoderAngle, AngularVelocity encoderVelocity)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

TalonFXMotorControllerWithRemoteCancoderSim

public TalonFXMotorControllerWithRemoteCancoderSim(TalonFX talonFX,
 CANcoder cancoder)

Creates a simulated motor controller for a TalonFX motor with a remote CANcoder.

Parameters:

talonFX - the TalonFX motor to simulate

cancoder - the CANcoder to use for remote sensing

Method Details

updateControlSignal

public Voltage updateControlSignal(Angle mechanismAngle,
 AngularVelocity mechanismVelocity,
 Angle encoderAngle,
 AngularVelocity encoderVelocity)

Specified by:

updateControlSignal in interface SimulatedMotorController

Overrides:

updateControlSignal in class PhoenixUtil.TalonFXMotorControllerSim