Package com.revrobotics.servohub

Class ServoHubSim

java.lang.Object
com.revrobotics.servohub.ServoHubSim
public class ServoHubSim extends Object

  • Constructor Details

    • ServoHubSim

      public ServoHubSim(ServoHub servoHub)
      Create a simulated CAN Servo Hub object. This class simulates some of the internal behavior of the device. This class is not required to display to the sim GUI, but is required to interact with it.
      Parameters:
      servoHub - The Servo Hub to simulate

  • Method Details

    • getDeviceVoltage

      public double getDeviceVoltage()
      Get the simulated device voltage. This matches the value from the ServoHub.getDeviceVoltage().
      Returns:
      device voltage in volts

    • setDeviceVoltage

      public void setDeviceVoltage(double voltage)
      Set the simulated device voltage.
      Parameters:
      voltage - device voltage in volts

    • getDeviceCurrent

      public double getDeviceCurrent()
      Get the simulated device current. This matches the value from the ServoHub.getDeviceCurrent().
      Returns:
      device current in amps

    • setDeviceCurrent

      public void setDeviceCurrent(double current)
      Set the simulated device current.
      Parameters:
      current - device current in amps

    • getServoVoltage

      public double getServoVoltage()
      Get the simulated servo voltage. This matches the value from the ServoHub.getServoVoltage().
      Returns:
      servo voltage in volts

    • setServoVoltage

      public void setServoVoltage(double voltage)
      Set the simulated servo voltage.
      Parameters:
      voltage - servo voltage in volts

    • getBankPulsePeriod

      public double getBankPulsePeriod(ServoHub.Bank bank)
      Get the simulated bank pulse period. This matches the value from the ServoHub.getBankPulsePeriod().
      Parameters:
      bank - the specific bank (0-2, or 3-5)to get
      Returns:
      pulse period (in microseconds)for the specified bank

    • setBankPulsePeriod

      public void setBankPulsePeriod(ServoHub.Bank bank, int pulsePeriod_us)
      Set the simulated bank pulse period
      Parameters:
      bank - the specific bank (0-2, or 3-5)to get
      pulsePeriod_us - pulse period (in microseconds)for the specified bank

    • enable

      public void enable()
      Enable the Servo Hub Device.

    • disable

      public void disable()
      Disable the Servo Hub Device

    • useDriverStationEnable

      public void useDriverStationEnable()
      Use the driver station enable as the method to enable/disable the Servo Hub. This is the default, so you do not need to call this unless you previously called enable() or disable().

    • getFaultManager

      public ServoHubSimFaultManager getFaultManager()
      Get the ServoHubSimFaultManager object associated with this Servo Hub Device. This will allow you to set simulated faults on your simulated device and view the Fault Manager in the Sim GUI.
      Returns:
      The ServoHubSimFaultManager object associated with this Servo Hub Device