SparkMaxSim (FRC-REVLib API)

java.lang.Object

com.revrobotics.spark.SparkSim

com.revrobotics.sim.SparkMaxSim

public class SparkMaxSim extends SparkSim

Constructor Summary

Constructors

Constructor

Description

SparkMaxSim(SparkMax sparkMax, DCMotor motor)

Create a simulated CAN Spark MAX object.
Method Summary

Modifier and Type

Method

Description

SparkMaxAlternateEncoderSim

getAlternateEncoderSim()

Get the SparkMaxAlternateEncoderSim 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
- SparkMaxSim
  
  public SparkMaxSim(SparkMax sparkMax, DCMotor motor)
  
  Create a simulated CAN Spark MAX 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:
  
  sparkMax - 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
- getAlternateEncoderSim
  
  public SparkMaxAlternateEncoderSim getAlternateEncoderSim()
  
  Get the SparkMaxAlternateEncoderSim 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 SparkMaxAlternateEncoderSim object associated with this Spark Device