Package frc.robot.devices.motor

Class AbstractVelocitySimMotor<TConfig extends MotorConfig>

java.lang.Object

frc.robot.devices.motor.AbstractMotor

frc.robot.devices.motor.AbstractSimMotor

frc.robot.devices.motor.AbstractVelocitySimMotor<TConfig>

Type Parameters:

TConfig - concrete motor config type

All Implemented Interfaces:

Motor, MotorIO

Direct Known Subclasses:

FeederSimMotor, IndexerSimMotor, IntakeSimMotor, ShooterSimMotor

public abstract class AbstractVelocitySimMotor<TConfig extends MotorConfig>
extends AbstractSimMotor

Simulation-only motor wrapper for velocity-controlled mechanisms.

Concrete subclasses supply their specific motor config and friendly name so the simulation motor matches the gearing and limits of the real device.

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	AbstractVelocitySimMotor(String name, TConfig motorConfig, Supplier<Double> maximumVelocitySupplier, Supplier<Double> maximumAccelerationSupplier)	Creates a simulated velocity motor using the supplied configuration values.

Method Summary

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

configureMotor, setEncoderPosition, updateInputs

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

AbstractVelocitySimMotor

protected AbstractVelocitySimMotor(String name,
 TConfig motorConfig,
 Supplier<Double> maximumVelocitySupplier,
 Supplier<Double> maximumAccelerationSupplier)

Creates a simulated velocity motor using the supplied configuration values.

Parameters:

name - friendly name used for logging

motorConfig - motor configuration bundle loaded from JSON

maximumVelocitySupplier - supplier yielding the maximum mechanism velocity in degrees per second

maximumAccelerationSupplier - supplier yielding the maximum mechanism acceleration in degrees per second squared