Package org.ironmaple.simulation.drivesims

Class COTS

java.lang.Object

org.ironmaple.simulation.drivesims.COTS

public class COTS
extends Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	COTS.WHEELS	Stores the coefficient of friction of some common used wheels.

Constructor Summary

Constructors

Constructor	Description
COTS()

Method Summary

Modifier and Type	Method	Description
static Supplier<GyroSimulation>	ofGenericGyro()	Creates the Simulation for a Generic, Low-Accuracy IMU.
static SwerveModuleSimulationConfig	ofMark4(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel)	creates a SDS Mark4 Swerve Module for simulation
static SwerveModuleSimulationConfig	ofMark4i(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel)	creates a SDS Mark4-i Swerve Module for simulation
static SwerveModuleSimulationConfig	ofMark4n(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel)	creates a SDS Mark4-n Swerve Module for simulation
static SwerveModuleSimulationConfig	ofMAXSwerve(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel)	Creates a REV MAXSwerve swerve module for simulation
static Supplier<GyroSimulation>	ofNav2X()	Creates the Simulation for a navX2-MXP IMU.
static Supplier<GyroSimulation>	ofPigeon2()	Creates the Simulation for a CTRE Pigeon 2 IMU.
static SwerveModuleSimulationConfig	ofSwerveX(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel)	creates a WCP SwerveX Swerve Module for simulation
static SwerveModuleSimulationConfig	ofSwerveX2(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel)	creates a WCP SwerveX2 Swerve Module for simulation
static SwerveModuleSimulationConfig	ofSwerveX2S(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel)	creates a WCP SwerveX2S Swerve Module for simulation
static SwerveModuleSimulationConfig	ofSwerveXFlipped(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel)	creates a WCP SwerveX Flipped Swerve Module for simulation
static SwerveModuleSimulationConfig	ofSwerveXS(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel)	creates a WCP SwerveXS Swerve Module for simulation
static SwerveModuleSimulationConfig	ofThriftySwerve(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel)	Creates a TTB Thrifty Swerve swerve module for simulation

Methods inherited from class java.lang.Object

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

Constructor Details

COTS

public COTS()

Method Details

ofMark4

public static SwerveModuleSimulationConfig ofMark4(DCMotor driveMotor,
 DCMotor steerMotor,
 double wheelCOF,
 int gearRatioLevel)

creates a SDS Mark4 Swerve Module for simulation

ofMark4i

public static SwerveModuleSimulationConfig ofMark4i(DCMotor driveMotor,
 DCMotor steerMotor,
 double wheelCOF,
 int gearRatioLevel)

creates a SDS Mark4-i Swerve Module for simulation

ofMark4n

public static SwerveModuleSimulationConfig ofMark4n(DCMotor driveMotor,
 DCMotor steerMotor,
 double wheelCOF,
 int gearRatioLevel)

creates a SDS Mark4-n Swerve Module for simulation

ofSwerveX

public static SwerveModuleSimulationConfig ofSwerveX(DCMotor driveMotor,
 DCMotor steerMotor,
 double wheelCOF,
 int gearRatioLevel)

creates a WCP SwerveX Swerve Module for simulation

X1 Ratios are gearRatioLevel 1-3
X2 Ratios are gearRatioLevel 4-6
X3 Ratios are gearRatioLevel 7-9

ofSwerveXFlipped

public static SwerveModuleSimulationConfig ofSwerveXFlipped(DCMotor driveMotor,
 DCMotor steerMotor,
 double wheelCOF,
 int gearRatioLevel)

creates a WCP SwerveX Flipped Swerve Module for simulation

X1 Ratios are gearRatioLevel 1-3
X2 Ratios are gearRatioLevel 4-6
X3 Ratios are gearRatioLevel 7-9

ofSwerveXS

public static SwerveModuleSimulationConfig ofSwerveXS(DCMotor driveMotor,
 DCMotor steerMotor,
 double wheelCOF,
 int gearRatioLevel)

creates a WCP SwerveXS Swerve Module for simulation

X1 Ratios are gearRatioLevel 1-3
X2 Ratios are gearRatioLevel 4-6

ofSwerveX2

public static SwerveModuleSimulationConfig ofSwerveX2(DCMotor driveMotor,
 DCMotor steerMotor,
 double wheelCOF,
 int gearRatioLevel)

creates a WCP SwerveX2 Swerve Module for simulation

X1 Ratios are gearRatioLevel 1-3
X2 Ratios are gearRatioLevel 4-6
X3 Ratios are gearRatioLevel 7-9
X4 Ratios are gearRatioLevel 10-12

ofSwerveX2S

public static SwerveModuleSimulationConfig ofSwerveX2S(DCMotor driveMotor,
 DCMotor steerMotor,
 double wheelCOF,
 int gearRatioLevel)

creates a WCP SwerveX2S Swerve Module for simulation

X1 Ratios are gearRatioLevel 1-3
X2 Ratios are gearRatioLevel 4-6
X3 Ratios are gearRatioLevel 7-9

ofMAXSwerve

public static SwerveModuleSimulationConfig ofMAXSwerve(DCMotor driveMotor,
 DCMotor steerMotor,
 double wheelCOF,
 int gearRatioLevel)

Creates a REV MAXSwerve swerve module for simulation

Base Kit ratios are gearRatioLevel 1-3
Gear Ratio Upgrade Kit ratios are gearRatioLevel 4-8

ofThriftySwerve

public static SwerveModuleSimulationConfig ofThriftySwerve(DCMotor driveMotor,
 DCMotor steerMotor,
 double wheelCOF,
 int gearRatioLevel)

Creates a TTB Thrifty Swerve swerve module for simulation

ofPigeon2

public static Supplier<GyroSimulation> ofPigeon2()

Creates the Simulation for a CTRE Pigeon 2 IMU.

Returns:

a gyro simulation factory configured for the Pigeon 2 IMU

ofNav2X

public static Supplier<GyroSimulation> ofNav2X()

Creates the Simulation for a navX2-MXP IMU.

Returns:

a gyro simulation factory configured for the navX2-MXP IMU

ofGenericGyro

public static Supplier<GyroSimulation> ofGenericGyro()

Creates the Simulation for a Generic, Low-Accuracy IMU.

Returns:

a gyro simulation factory configured for a generic low-accuracy IMU