Package frc.robot.subsystems.climb

Class ClimbIOSim

java.lang.Object

frc.robot.subsystems.climb.ClimbIOSim

All Implemented Interfaces:

ClimbIO

public class ClimbIOSim
extends Object
implements ClimbIO

Physics simulation implementation of ClimbIO.

This class uses SparkMaxSim to simulate the Spark MAX motor controller for the climb mechanism, backed by a DCMotorSim physics model. Limit switch behavior is emulated via SparkLimitSwitchSim based on the simulated position. Configuration mirrors ClimbIOSpark.

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.subsystems.climb.ClimbIO

ClimbIO.ClimbIOInputs

Constructor Summary

Constructors

Constructor	Description
ClimbIOSim()	Creates a new ClimbIOSim and initializes the simulated Spark MAX.

Method Summary

Modifier and Type	Method	Description
void	setLiftVoltage(Voltage voltage)	Run the lift motors at the specified voltage.
void	updateInputs(ClimbIO.ClimbIOInputs inputs)	Updates the simulation state and updates loggable inputs.

Methods inherited from class java.lang.Object

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

Methods inherited from interface frc.robot.subsystems.climb.ClimbIO

clearFaults

Constructor Details

ClimbIOSim

public ClimbIOSim()

Creates a new ClimbIOSim and initializes the simulated Spark MAX.

Method Details

updateInputs

public void updateInputs(ClimbIO.ClimbIOInputs inputs)

Updates the simulation state and updates loggable inputs.

Specified by:

updateInputs in interface ClimbIO

Parameters:

inputs - The inputs object to update with simulated data.

setLiftVoltage

public void setLiftVoltage(Voltage voltage)

Description copied from interface: ClimbIO

Run the lift motors at the specified voltage.

Specified by:

setLiftVoltage in interface ClimbIO

Parameters:

voltage - The voltage to apply to the motor controller.