Package org.ironmaple.simulation.drivesims

Class SwerveModuleSimulation

java.lang.Object
org.ironmaple.simulation.drivesims.SwerveModuleSimulation
public class SwerveModuleSimulation extends Object

Simulation for a Single Swerve Module.

Check Online Documentation

This class provides a simulation for a single swerve module in the SwerveDriveSimulation.

1. Purpose

This class serves as the bridge between your code and the physics engine.

You will apply voltage outputs to the drive/steer motor of the module and obtain their encoder readings in your code, just as how you deal with your physical motors.

2. Perspectives

  • Simulates the steering mechanism using a custom brushless motor simulator.
  • Simulates the propelling force generated by the driving motor, with a current limit.
  • Simulates encoder readings, which can be used to simulate a SwerveDriveOdometry.

3. Simulating Odometry

An example of how to simulate odometry using this class is the ModuleIOSim.java from the Advanced Swerve Drive with maple-sim example.

  • Field Details

  • Constructor Details

  • Method Details

    • getDriveMotorConfigs

      public SimMotorConfigs getDriveMotorConfigs()

    • getSteerMotorConfigs

      public SimMotorConfigs getSteerMotorConfigs()

    • useDriveMotorController

      public <T extends SimulatedMotorController> T useDriveMotorController(T driveMotorController)

      Sets the motor controller for the drive motor.

      The configured controller runs control loop on the motor.

      Parameters:
      driveMotorController - the motor controller to control the drive motor

    • useGenericMotorControllerForDrive

      public SimulatedMotorController.GenericMotorController useGenericMotorControllerForDrive()

    • useSteerMotorController

      public <T extends SimulatedMotorController> T useSteerMotorController(T steerMotorController)

      Requests the Steering Motor to Run at a Specified Output.

      Think of it as the requestOutput() of your physical steering motor.

      Parameters:
      steerMotorController - the motor controller to control the steer motor

    • useGenericControllerForSteer

      public SimulatedMotorController.GenericMotorController useGenericControllerForSteer()

    • updateSimulationSubTickGetModuleForce

      public org.dyn4j.geometry.Vector2 updateSimulationSubTickGetModuleForce(org.dyn4j.geometry.Vector2 moduleCurrentGroundVelocityWorldRelative, Rotation2d robotFacing, double gravityForceOnModuleNewtons)

      Updates the Simulation for This Module.

      Note: Friction forces are not simulated in this method.

      Parameters:
      moduleCurrentGroundVelocityWorldRelative - the current ground velocity of the module, relative to the world
      robotFacing - the absolute facing of the robot, relative to the world
      gravityForceOnModuleNewtons - the gravitational force acting on this module, in newtons
      Returns:
      the propelling force generated by the module, as a Vector2 object

    • getCurrentState

      public SwerveModuleState getCurrentState()
      Returns:
      the current module state of this simulation module

    • getFreeSpinState

      protected SwerveModuleState getFreeSpinState()

      Obtains the "free spin" state of the module

      The "free spin" state of a simulated module refers to its state after spinning freely for a long time under the current input voltage

      Returns:
      the free spinning module state

    • getDriveMotorAppliedVoltage

      public Voltage getDriveMotorAppliedVoltage()

      Obtains the Actual Output Voltage of the Drive Motor.

      Returns:
      the actual output voltage of the drive motor

    • getSteerMotorAppliedVoltage

      public Voltage getSteerMotorAppliedVoltage()

      Obtains the Actual Output Voltage of the Steering Motor.

      Returns:
      the actual output voltage of the steering motor
      See Also:

    • getDriveMotorSupplyCurrent

      public Current getDriveMotorSupplyCurrent()

      Obtains the Amount of Current Supplied to the Drive Motor.

      Returns:
      the current supplied to the drive motor

    • getDriveMotorStatorCurrent

      public Current getDriveMotorStatorCurrent()

      Obtains the Stator current the Drive Motor.

      Returns:
      the stator current of the drive motor

    • getSteerMotorSupplyCurrent

      public Current getSteerMotorSupplyCurrent()

      Obtains the Amount of Current Supplied to the Steer Motor.

      Returns:
      the current supplied to the steer motor
      See Also:

    • getSteerMotorStatorCurrent

      public Current getSteerMotorStatorCurrent()

      Obtains the Stator current the Steer Motor.

      Returns:
      the stator current of the drive motor
      See Also:

    • getDriveEncoderUnGearedPosition

      public Angle getDriveEncoderUnGearedPosition()

      Obtains the Position of the Drive Encoder.

      This value represents the un-geared position of the encoder, i.e., the amount of radians the drive motor's encoder has rotated.

      Returns:
      the position of the drive motor's encoder (un-geared)

    • getDriveWheelFinalPosition

      public Angle getDriveWheelFinalPosition()

      Obtains the Final Position of the Wheel.

      This method provides the final position of the drive encoder in terms of wheel angle.

      Returns:
      the final position of the drive encoder (wheel rotations)

    • getDriveEncoderUnGearedSpeed

      public AngularVelocity getDriveEncoderUnGearedSpeed()

      Obtains the Speed of the Drive Encoder.

      Returns:
      the un-geared speed of the drive encoder

    • getDriveWheelFinalSpeed

      public AngularVelocity getDriveWheelFinalSpeed()

      Obtains the Final Speed of the Wheel.

      Returns:
      the final speed of the drive wheel

    • getSteerRelativeEncoderPosition

      public Angle getSteerRelativeEncoderPosition()

      Obtains the Relative Position of the Steer Encoder.

      Returns:
      the relative encoder position of the steer motor
      See Also:

    • getSteerRelativeEncoderVelocity

      public AngularVelocity getSteerRelativeEncoderVelocity()

      Obtains the Speed of the Steer Relative Encoder (Geared).

      Returns:
      the speed of the steer relative encoder
      See Also:

    • getSteerAbsoluteFacing

      public Rotation2d getSteerAbsoluteFacing()

      Obtains the Absolute Facing of the Steer Mechanism.

      Returns:
      the absolute facing of the steer mechanism, as a Rotation2d

    • getSteerAbsoluteAngle

      public Angle getSteerAbsoluteAngle()

      Obtains the Absolute Angle of the Steer Mechanism.

      Returns:
      the (continuous) final angle of the steer mechanism, as a Angle
      See Also:

    • getSteerAbsoluteEncoderSpeed

      public AngularVelocity getSteerAbsoluteEncoderSpeed()

      Obtains the Absolute Rotational Velocity of the Steer Mechanism.

      Returns:
      the absolute angular velocity of the steer mechanism

    • getCachedDriveEncoderUnGearedPositions

      public Angle[] getCachedDriveEncoderUnGearedPositions()

      Obtains the Cached Readings of the Drive Encoder's Un-Geared Position.

      The values of getDriveEncoderUnGearedPosition() are cached at each sub-tick and can be retrieved using this method.

      Returns:
      an array of cached drive encoder un-geared positions

    • getCachedDriveWheelFinalPositions

      public Angle[] getCachedDriveWheelFinalPositions()

      Obtains the Cached Readings of the Drive Encoder's Final Position (Wheel Rotations).

      The values of getDriveWheelFinalPosition() are cached at each sub-tick and are divided by the gear ratio to obtain the final wheel rotations.

      Returns:
      an array of cached drive encoder final positions (wheel rotations)

    • getCachedSteerRelativeEncoderPositions

      public Angle[] getCachedSteerRelativeEncoderPositions()

      Obtains the Cached Readings of the Steer Relative Encoder's Position.

      The values of getSteerRelativeEncoderPosition() are cached at each sub-tick and can be retrieved using this method.

      Returns:
      an array of cached steer relative encoder positions

    • getCachedSteerAbsolutePositions

      public Rotation2d[] getCachedSteerAbsolutePositions()

      Obtains the Cached Readings of the Steer Absolute Positions.

      The values of getSteerAbsoluteFacing() are cached at each sub-tick and can be retrieved using this method.

      Returns:
      an array of cached absolute steer positions, as Rotation2d objects