Package frc.robot.subsystems.turret.devices

Class TurretSimMotor

java.lang.Object

frc.robot.devices.motor.AbstractMotor

frc.robot.devices.motor.AbstractSimMotor

frc.robot.subsystems.turret.devices.TurretSimMotor

All Implemented Interfaces:

Motor, MotorIO

public class TurretSimMotor
extends AbstractSimMotor

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

Use this class when running in simulation so the turret 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 TurretSimMotor	create(MotorConfig motorConfig, Supplier<Double> maximumVelocitySupplier, Supplier<Double> maximumAccelerationSupplier)	Creates a simulated turret 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 TurretSimMotor create(MotorConfig motorConfig,
 Supplier<Double> maximumVelocitySupplier,
 Supplier<Double> maximumAccelerationSupplier)

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

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

Parameters:

motorConfig - turret 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 turret motor wrapper