Package org.ironmaple.simulation.drivesims

Class SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation

java.lang.Object

org.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation

Enclosing class:

SelfControlledSwerveDriveSimulation

public static class SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
final SwerveModuleSimulation	instance

Constructor Summary

Constructors

Constructor	Description
SelfControlledModuleSimulation(SwerveModuleSimulation moduleSimulation)

Method Summary

Modifier and Type	Method	Description
SwerveModuleState	getMeasuredState()
SwerveModulePosition	getModulePosition()
SwerveModuleState	optimizeAndRunModuleState(SwerveModuleState setPoint)	Runs the control loops for swerve states on a simulated module.
void	runModuleState(SwerveModuleState setPoint)
SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation	withCurrentLimits(edu.wpi.first.units.measure.Current driveCurrentLimit, edu.wpi.first.units.measure.Current steerCurrentLimit)
SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation	withSteerPID(PIDController steerController)

Methods inherited from class java.lang.Object

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

Field Details

instance

public final SwerveModuleSimulation instance

Constructor Details

SelfControlledModuleSimulation

public SelfControlledModuleSimulation(SwerveModuleSimulation moduleSimulation)

Method Details

withSteerPID

public SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation withSteerPID(PIDController steerController)

withCurrentLimits

public SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation withCurrentLimits(edu.wpi.first.units.measure.Current driveCurrentLimit,
 edu.wpi.first.units.measure.Current steerCurrentLimit)

optimizeAndRunModuleState

public SwerveModuleState optimizeAndRunModuleState(SwerveModuleState setPoint)

Runs the control loops for swerve states on a simulated module.

Optimizes the set-point using SwerveModuleState.optimize(SwerveModuleState, Rotation2d).

Executes a closed-loop control on the swerve module.

Parameters:

setPoint - the desired state to optimize and apply

Returns:

the optimized swerve module state after control execution

runModuleState

public void runModuleState(SwerveModuleState setPoint)

getMeasuredState

public SwerveModuleState getMeasuredState()

getModulePosition

public SwerveModulePosition getModulePosition()