Package frc.robot.subsystems.intake.devices

Class IntakeSimMotor

java.lang.Object

frc.robot.devices.motor.AbstractMotor

frc.robot.devices.motor.AbstractSimMotor

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

frc.robot.subsystems.intake.devices.IntakeSimMotor

All Implemented Interfaces:

Motor, MotorIO

public class IntakeSimMotor
extends AbstractVelocitySimMotor<MotorConfig>

Simulation-only intake motor wrapper configured from the intake subsystem config.

Use this class when running in simulation so the roller velocity behavior can be exercised without hardware. Construct it with the same config used by the subsystem to ensure gearing matches 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 IntakeSimMotor	create(MotorConfig motorConfig, Supplier<Double> maximumVelocitySupplier, Supplier<Double> maximumAccelerationSupplier)	Creates a simulated intake 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 IntakeSimMotor create(MotorConfig motorConfig,
 Supplier<Double> maximumVelocitySupplier,
 Supplier<Double> maximumAccelerationSupplier)

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

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

Parameters:

motorConfig - intake 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

Returns:

configured simulated intake motor wrapper