Package frc.robot.subsystems.harvester.devices

Class HarvesterSimMotor

java.lang.Object

frc.robot.devices.motor.AbstractMotor

frc.robot.devices.motor.AbstractSimMotor

frc.robot.subsystems.harvester.devices.HarvesterSimMotor

All Implemented Interfaces:

Motor, MotorIO

public class HarvesterSimMotor
extends AbstractSimMotor

Simulation-only harvester arm motor wrapper configured from the harvester subsystem config.

Use this class when running in simulation so the arm profile behavior can be exercised without hardware. Construct it with the same config used by the subsystem to ensure limits and gearing match 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

Method Summary

Modifier and Type	Method	Description
static HarvesterSimMotor	create(MotorConfig motorConfig, Supplier<Double> maximumVelocitySupplier, Supplier<Double> maximumAccelerationSupplier)	Creates a simulated harvester motor wrapper using the supplied configuration values.

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

Method Details

create

public static HarvesterSimMotor create(MotorConfig motorConfig,
 Supplier<Double> maximumVelocitySupplier,
 Supplier<Double> maximumAccelerationSupplier)

Creates a simulated harvester motor wrapper using the supplied configuration values.

Use this factory so the call site stays consistent with the hardware motor creation pattern.

Parameters:

motorConfig - harvester motor configuration bundle loaded from JSON

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

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

Returns:

configured simulated harvester motor wrapper