Class SparkMaxAlternateEncoderSim

java.lang.Object
com.revrobotics.sim.SparkMaxAlternateEncoderSim
public class SparkMaxAlternateEncoderSim extends Object

  • Constructor Details

    • SparkMaxAlternateEncoderSim

      public SparkMaxAlternateEncoderSim(SparkMax motor)
      Create a Spark MAX Alternate Encoder simulation object for a Spark MAX. This will allow you to read/write data from the simulated sensor and view it in the Sim GUI.
      Parameters:
      motor - The CANSparkMax associated with the sensor

  • Method Details

    • setPosition

      public void setPosition(double position)
      Set the position of the sensor
      Parameters:
      position - the position to set

    • getPosition

      public double getPosition()
      Get the position of the sensor
      Returns:
      the position of the sensor

    • setVelocity

      public void setVelocity(double velocity)
      Set the velocity of the sensor
      Parameters:
      velocity - the velocity to set

    • getVelocity

      public double getVelocity()
      Get the velocity of the sensor
      Returns:
      the velocity of the sensor

    • setInverted

      public void setInverted(boolean inverted)
      Set the inversion state of the sensor
      Parameters:
      inverted - if the sensor is inverted or not

    • getInverted

      public boolean getInverted()
      Get the inversion state of the sensor
      Returns:
      if the sensor is inverted or not

    • setZeroOffset

      public void setZeroOffset(double zeroOffset)
      Set the zero offset of the sensor
      Parameters:
      zeroOffset - the zero offset to apply

    • getZeroOffset

      public double getZeroOffset()
      Get the zero offset of the sensor
      Returns:
      the zero offset of the sensor

    • iterate

      public void iterate(double velocity, double dt)
      Move the sensor at the input velocity
      Parameters:
      velocity - the velocity of the sensor
      dt - the time interval of the calculation