Package frc.robot.subsystems.shooter.flywheel

Class FlywheelIOSim

java.lang.Object

frc.robot.subsystems.shooter.flywheel.FlywheelIOSim

All Implemented Interfaces:

FlywheelIO

public class FlywheelIOSim
extends Object
implements FlywheelIO

Simulation implementation of FlywheelIO.

This class uses a SparkFlex with its SparkFlexSim wrapper to simulate the flywheel motor controller, backed by a DCMotorSim physics model. The SparkFlex's built-in MAXMotion velocity control is used, matching the real robot's FlywheelIOSpark. Configuration is identical to the real implementation.

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.subsystems.shooter.flywheel.FlywheelIO

FlywheelIO.FlywheelIOInputs

Constructor Summary

Constructors

Constructor	Description
FlywheelIOSim()	Creates a new FlywheelIOSim and configures the SparkFlex identically to FlywheelIOSpark.

Method Summary

Modifier and Type	Method	Description
void	runCharacterization(Voltage voltage)	Runs a characterization routine on the flywheel to determine its feedforward constants.
void	setAngularVelocity(AngularVelocity velocity)	Commands the flywheel to spin at a specific angular velocity.
void	stop()	Stops the flywheel motor.
void	updateInputs(FlywheelIO.FlywheelIOInputs inputs)	Updates the physics simulation and populates inputs from the SparkFlex sim 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.shooter.flywheel.FlywheelIO

clearFaults

Constructor Details

FlywheelIOSim

public FlywheelIOSim()

Creates a new FlywheelIOSim and configures the SparkFlex identically to FlywheelIOSpark.

Method Details

updateInputs

public void updateInputs(FlywheelIO.FlywheelIOInputs inputs)

Updates the physics simulation and populates inputs from the SparkFlex sim state.

Specified by:

updateInputs in interface FlywheelIO

Parameters:

inputs - The inputs object to update.

runCharacterization

public void runCharacterization(Voltage voltage)

Description copied from interface: FlywheelIO

Runs a characterization routine on the flywheel to determine its feedforward constants.

Specified by:

runCharacterization in interface FlywheelIO

Parameters:

voltage - The voltage to apply during characterization.

setAngularVelocity

public void setAngularVelocity(AngularVelocity velocity)

Description copied from interface: FlywheelIO

Commands the flywheel to spin at a specific angular velocity.

Specified by:

setAngularVelocity in interface FlywheelIO

Parameters:

velocity - The target angular velocity for the flywheel.

stop

public void stop()

Description copied from interface: FlywheelIO

Stops the flywheel motor.

Specified by:

stop in interface FlywheelIO