Package frc.robot.devices.motor

Class AbstractSimMotor

java.lang.Object

frc.robot.devices.motor.AbstractMotor

frc.robot.devices.motor.AbstractSimMotor

All Implemented Interfaces:

Motor, MotorIO

Direct Known Subclasses:

AbstractVelocitySimMotor, HarvesterSimMotor, TurretSimMotor

public abstract class AbstractSimMotor
extends AbstractMotor

Abstract simulation-only motor wrapper that mirrors AbstractMotor behavior while using REV simulation helpers.

This class pairs a SparkMaxSim with a DCMotorSim so the simulated Spark MAX follows the same control modes, soft limits, and conversion factors as the real robot. Motion is modeled in radians and seconds to match the rest of the robot math.

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.devices.motor.MotorIO

MotorIO.MotorIOInputs

Field Summary

Fields inherited from class frc.robot.devices.motor.AbstractMotor

log, motor, name, NOMINAL_VOLTAGE

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	AbstractSimMotor(String name, MotorConfig config, Supplier<Double> maximumVelocityDegreesPerSecondSupplier, Supplier<Double> maximumAccelerationDegreesPerSecondSqSupplier)	Creates a simulated motor using the default NEO motor model.
protected	AbstractSimMotor(String name, MotorConfig config, Supplier<Double> maximumVelocityDegreesPerSecondSupplier, Supplier<Double> maximumAccelerationDegreesPerSecondSqSupplier, edu.wpi.first.math.system.plant.DCMotor motorModel)	Creates a simulated motor using an explicit motor model for improved realism.

Method Summary

Modifier and Type	Method	Description
protected com.revrobotics.spark.config.SparkMaxConfig	configureMotor(com.revrobotics.spark.config.SparkMaxConfig sparkConfig)	Applies the base configuration for the simulated Spark MAX.
void	setEncoderPosition(double positionRadians)	Overwrites the real encoder, the SparkMaxSim, and the physics model position.
void	updateInputs(MotorIO.MotorIOInputs inputs)	Updates the physics model and then exports sensor values from the simulated Spark MAX.

Methods inherited from class frc.robot.devices.motor.AbstractMotor

computeMechanismRadiansPerMotorRotation, getPositionRadians, getVelocityRadiansPerSecond, getVoltage, init, isInitialized, setVoltage, stop

Methods inherited from class java.lang.Object

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

Constructor Details

AbstractSimMotor

protected AbstractSimMotor(String name,
 MotorConfig config,
 Supplier<Double> maximumVelocityDegreesPerSecondSupplier,
 Supplier<Double> maximumAccelerationDegreesPerSecondSqSupplier)

Creates a simulated motor using the default NEO motor model.

Use this when your mechanism is driven by a single NEO motor and you want the simulated Spark MAX to follow the same configuration and limits as the real robot.

Parameters:

name - friendly name used for logging

config - motor configuration bundle for limits, gear ratio, and inversion

maximumVelocityDegreesPerSecondSupplier - supplier yielding the max mechanism velocity (degrees per second)

maximumAccelerationDegreesPerSecondSqSupplier - supplier yielding the max mechanism acceleration (degrees per second squared)

AbstractSimMotor

protected AbstractSimMotor(String name,
 MotorConfig config,
 Supplier<Double> maximumVelocityDegreesPerSecondSupplier,
 Supplier<Double> maximumAccelerationDegreesPerSecondSqSupplier,
 edu.wpi.first.math.system.plant.DCMotor motorModel)

Creates a simulated motor using an explicit motor model for improved realism.

Use this when you know the exact motor type (for example, NEO 550) or the number of motors in the gearbox.

Parameters:

name - friendly name used for logging

config - motor configuration bundle for limits, gear ratio, and inversion

maximumVelocityDegreesPerSecondSupplier - supplier yielding the max mechanism velocity (degrees per second)

maximumAccelerationDegreesPerSecondSqSupplier - supplier yielding the max mechanism acceleration (degrees per second squared)

motorModel - motor model (for example, DCMotor.getNEO(int))

Method Details

updateInputs

public void updateInputs(MotorIO.MotorIOInputs inputs)

Updates the physics model and then exports sensor values from the simulated Spark MAX.

Specified by:

updateInputs in interface MotorIO

Overrides:

updateInputs in class AbstractMotor

Parameters:

inputs - mutable inputs container to fill for logging

setEncoderPosition

public void setEncoderPosition(double positionRadians)

Overwrites the real encoder, the SparkMaxSim, and the physics model position.

All three position stores must stay in sync. Without updating the DCMotorSim, the physics model starts from a stale position and soft-limit clamping prevents it from ever reaching the encoder's reported value; the motor appears frozen in telemetry.

Specified by:

setEncoderPosition in interface Motor

Overrides:

setEncoderPosition in class AbstractMotor

Parameters:

positionRadians - new encoder position in mechanism radians

configureMotor

protected com.revrobotics.spark.config.SparkMaxConfig configureMotor(com.revrobotics.spark.config.SparkMaxConfig sparkConfig)

Applies the base configuration for the simulated Spark MAX.

This mirrors the inversion, current limits, and voltage compensation used on the real controller so the simulation follows the same control assumptions.

Specified by:

configureMotor in class AbstractMotor

Parameters:

sparkConfig - base SparkMax config to mutate

Returns:

updated SparkMax config ready for SparkMax.configure(com.revrobotics.spark.config.SparkBaseConfig, com.revrobotics.spark.SparkBase.ResetMode, com.revrobotics.spark.SparkBase.PersistMode)