SparkFlexSim (FRC-REVLib API)

java.lang.Object

com.revrobotics.spark.SparkSim

com.revrobotics.sim.SparkFlexSim

public class SparkFlexSim extends SparkSim

Constructor Summary

Constructors

Constructor

Description

SparkFlexSim(SparkFlex sparkFlex, DCMotor motor)

Create a simulated CAN Spark Flex object.
Method Summary

Modifier and Type

Method

Description

SparkFlexExternalEncoderSim

getExternalEncoderSim()

Get the SparkFlexExternalEncoderSim object associated with this Spark Device.

Methods inherited from class com.revrobotics.spark.SparkSim
disable, enable, getAbsoluteEncoderSim, getAnalogSensorSim, getAppliedOutput, getBusVoltage, getClosedLoopSlot, getFaultManager, getForwardLimitSwitchSim, getMotorCurrent, getPosition, getRelativeEncoderSim, getReverseLimitSwitchSim, getSetpoint, getVelocity, iterate, setAppliedOutput, setBusVoltage, setMotorCurrent, setPosition, setVelocity, useDriverStationEnable

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details
- SparkFlexSim
  
  public SparkFlexSim(SparkFlex sparkFlex, DCMotor motor)
  
  Create a simulated CAN Spark Flex 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 or inject physics simulation.
  See SparkSim.iterate(double, double, double) for more information on physics simulation.
  
  Parameters:
  
  sparkFlex - The Spark to simulate
  
  motor - The WPILib DCMotor class object to use for calculations. If multiple motors are connected to the same gearbox and follow each other, a single DCMotor and CANSparkSim can be used to represent all of them.
Method Details
- getExternalEncoderSim
  
  public SparkFlexExternalEncoderSim getExternalEncoderSim()
  
  Get the SparkFlexExternalEncoderSim object associated with this Spark Device. This will allow you to read/write data from the simulated sensor and view it in the Sim GUI.
  
  Returns:
  
  The SparkFlexExternalEncoderSim object associated with this Spark Device