Package frc.robot.subsystems.intake.spinner

Class SpinnerIOSim

java.lang.Object

frc.robot.subsystems.intake.spinner.SpinnerIOSim

All Implemented Interfaces:

SpinnerIO

public class SpinnerIOSim
extends Object
implements SpinnerIO

Simulation implementation of the Spinner IO interface.

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.subsystems.intake.spinner.SpinnerIO

SpinnerIO.SpinnerIOInputs

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
void	setVoltage(Voltage voltage)	Commands the spinner motor to run at a specific voltage.
void	updateInputs(SpinnerIO.SpinnerIOInputs 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.spinner.SpinnerIO

clearFaults

Constructor Details

SpinnerIOSim

public SpinnerIOSim()

Creates a new SpinnerIOSim and initializes the simulated Spark MAX motor controllers.

Method Details

updateInputs

public void updateInputs(SpinnerIO.SpinnerIOInputs inputs)

Updates inputs by simulating physics models and updating the SparkMaxSim state.

Specified by:

updateInputs in interface SpinnerIO

Parameters:

inputs - The inputs object to update.

setVoltage

public void setVoltage(Voltage voltage)

Description copied from interface: SpinnerIO

Commands the spinner motor to run at a specific voltage.

Specified by:

setVoltage in interface SpinnerIO

Parameters:

voltage - The target voltage for the spinner rollers.