Package frc.robot.subsystems.indexer

Class IndexerIOSim

java.lang.Object

frc.robot.subsystems.indexer.IndexerIOSim

All Implemented Interfaces:

IndexerIO

public class IndexerIOSim
extends Object
implements IndexerIO

Physics simulation implementation of IndexerIO.

This class uses SparkMaxSim to simulate the Spark MAX motor controller for the indexer, backed by a DCMotorSim physics model. Configuration mirrors IndexerIOSpark.

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.subsystems.indexer.IndexerIO

IndexerIO.IndexerIOInputs

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
void	setVoltage(Voltage voltage)	Sets the voltage to be applied to the simulated motor.
void	updateInputs(IndexerIO.IndexerIOInputs 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.indexer.IndexerIO

clearFaults

Constructor Details

IndexerIOSim

public IndexerIOSim()

Creates a new IndexerIOSim and initializes the simulated Spark MAX.

Method Details

updateInputs

public void updateInputs(IndexerIO.IndexerIOInputs inputs)

Updates the simulation state and updates loggable inputs.

Specified by:

updateInputs in interface IndexerIO

Parameters:

inputs - The inputs object to update with simulated data.

setVoltage

public void setVoltage(Voltage voltage)

Sets the voltage to be applied to the simulated motor.

Specified by:

setVoltage in interface IndexerIO

Parameters:

voltage - The voltage to apply.