Class COTS
java.lang.Object
org.ironmaple.simulation.drivesims.COTS
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Nested Class Summary
Modifier and TypeClassDescriptionstatic enum
Stores the coefficient of friction of some common used wheels. -
Constructor Summary
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Method Summary
Modifier and TypeMethodDescriptionstatic Supplier<GyroSimulation>
Creates the Simulation for a Generic, Low-Accuracy IMU.static Supplier<SwerveModuleSimulation>
creates a SDS Mark4 Swerve Module for simulationstatic Supplier<SwerveModuleSimulation>
creates a SDS Mark4-i Swerve Module for simulationstatic Supplier<SwerveModuleSimulation>
creates a SDS Mark4-n Swerve Module for simulationstatic Supplier<SwerveModuleSimulation>
ofMAXSwerve
(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel) Creates a REV MAXSwerve swerve module for simulationstatic Supplier<GyroSimulation>
ofNav2X()
Creates the Simulation for a navX2-MXP IMU.static Supplier<GyroSimulation>
Creates the Simulation for a CTRE Pigeon 2 IMU.static Supplier<SwerveModuleSimulation>
creates a WCP SwerveX Swerve Module for simulationstatic Supplier<SwerveModuleSimulation>
ofSwerveX2
(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel) creates a WCP SwerveX2 Swerve Module for simulationstatic Supplier<SwerveModuleSimulation>
ofSwerveX2S
(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel) creates a WCP SwerveX2S Swerve Module for simulationstatic Supplier<SwerveModuleSimulation>
ofSwerveXFlipped
(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel) creates a WCP SwerveX Flipped Swerve Module for simulationstatic Supplier<SwerveModuleSimulation>
ofSwerveXS
(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel) creates a WCP SwerveXS Swerve Module for simulationstatic Supplier<SwerveModuleSimulation>
ofThriftySwerve
(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel) Creates a TTB Thrifty Swerve swerve module for simulation
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Constructor Details
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COTS
public COTS()
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Method Details
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ofMark4
public static Supplier<SwerveModuleSimulation> ofMark4(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel) creates a SDS Mark4 Swerve Module for simulation -
ofMark4i
public static Supplier<SwerveModuleSimulation> ofMark4i(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel) creates a SDS Mark4-i Swerve Module for simulation -
ofMark4n
public static Supplier<SwerveModuleSimulation> ofMark4n(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel) creates a SDS Mark4-n Swerve Module for simulation -
ofSwerveX
public static Supplier<SwerveModuleSimulation> ofSwerveX(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel) creates a WCP SwerveX Swerve Module for simulationX1 Ratios are gearRatioLevel 1-3
X2 Ratios are gearRatioLevel 4-6
X3 Ratios are gearRatioLevel 7-9 -
ofSwerveXFlipped
public static Supplier<SwerveModuleSimulation> ofSwerveXFlipped(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel) creates a WCP SwerveX Flipped Swerve Module for simulationX1 Ratios are gearRatioLevel 1-3
X2 Ratios are gearRatioLevel 4-6
X3 Ratios are gearRatioLevel 7-9 -
ofSwerveXS
public static Supplier<SwerveModuleSimulation> ofSwerveXS(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel) creates a WCP SwerveXS Swerve Module for simulationX1 Ratios are gearRatioLevel 1-3
X2 Ratios are gearRatioLevel 4-6 -
ofSwerveX2
public static Supplier<SwerveModuleSimulation> ofSwerveX2(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel) creates a WCP SwerveX2 Swerve Module for simulationX1 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 Supplier<SwerveModuleSimulation> ofSwerveX2S(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel) creates a WCP SwerveX2S Swerve Module for simulationX1 Ratios are gearRatioLevel 1-3
X2 Ratios are gearRatioLevel 4-6
X3 Ratios are gearRatioLevel 7-9 -
ofMAXSwerve
public static Supplier<SwerveModuleSimulation> ofMAXSwerve(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel) Creates a REV MAXSwerve swerve module for simulationBase Kit ratios are gearRatioLevel 1-3
Gear Ratio Upgrade Kit ratios are gearRatioLevel 4-8 -
ofThriftySwerve
public static Supplier<SwerveModuleSimulation> ofThriftySwerve(DCMotor driveMotor, DCMotor steerMotor, double wheelCOF, int gearRatioLevel) Creates a TTB Thrifty Swerve swerve module for simulation -
ofPigeon2
Creates the Simulation for a CTRE Pigeon 2 IMU.
- Returns:
- a gyro simulation factory configured for the Pigeon 2 IMU
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ofGenericGyro
Creates the Simulation for a Generic, Low-Accuracy IMU.
- Returns:
- a gyro simulation factory configured for a generic low-accuracy IMU
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