Package frc.robot.subsystems.intake.arm

Class ArmIOSim

java.lang.Object
frc.robot.subsystems.intake.arm.ArmIOSim
All Implemented Interfaces:
ArmIO
public class ArmIOSim extends Object implements ArmIO
Simulation implementation for the intake arm IO interface.

  • Nested Class Summary

    Nested classes/interfaces inherited from interface frc.robot.subsystems.intake.arm.ArmIO

    ArmIO.ArmIOInputs

  • Constructor Summary

    Constructors
    Constructor
    Description
    ArmIOSim()
    Creates a new ArmIOSim and initializes the simulated Spark MAX motor controllers.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    setPosition(Angle angle)
    Commands the arm motor to move to a specified position using closed-loop control.
    void
    stop()
    Tells the motor to stop trying to reach its setpoint
    void
    updateInputs(ArmIO.ArmIOInputs inputs)
    Updates inputs by simulating physics models and updating the SparkMaxSim state.

    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.intake.arm.ArmIO

    clearFaults

  • Constructor Details

    • ArmIOSim

      public ArmIOSim()
      Creates a new ArmIOSim and initializes the simulated Spark MAX motor controllers.

  • Method Details

    • updateInputs

      public void updateInputs(ArmIO.ArmIOInputs inputs)
      Updates inputs by simulating physics models and updating the SparkMaxSim state.
      Specified by:
      updateInputs in interface ArmIO
      Parameters:
      inputs - The inputs object to update.

    • setPosition

      public void setPosition(Angle angle)
      Description copied from interface: ArmIO
      Commands the arm motor to move to a specified position using closed-loop control.
      Specified by:
      setPosition in interface ArmIO
      Parameters:
      angle - The target angle for the arm.

    • stop

      public void stop()
      Description copied from interface: ArmIO
      Tells the motor to stop trying to reach its setpoint
      Specified by:
      stop in interface ArmIO