Package com.revrobotics.spark

Class SparkSim

java.lang.Object
com.revrobotics.spark.SparkSim
Direct Known Subclasses:
SparkFlexSim, SparkMaxSim
public class SparkSim extends Object

  • Constructor Details

    • SparkSim

      public SparkSim(SparkBase spark, DCMotor motor)
      Create a simulated CAN Spark Max or Flex object. This class simulates some of the internal behavior of the device. CANSparkMaxSim and CANSparkFlexSim wrap this class. This class is not required to display to the sim GUI, but is required to interact with it or inject physics simulation.

      See iterate(double, double, double) for more information on physics simulation.

      Parameters:
      spark - 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

    • getAppliedOutput

      public double getAppliedOutput()
      Get the simulated applied output. This matches the value from the CANSparkBase getAppliedOutput(). Multiply by vbus to get the motor voltage.
      Returns:
      applied output [-1, 1]

    • setAppliedOutput

      public void setAppliedOutput(double appliedOutput)
      Set the simulated applied output. Use this only in place of iterate().
      Parameters:
      appliedOutput - simulated applied output value [-1, 1]

    • getSetpoint

      public double getSetpoint()
      Get the setpoint sent to the device
      Returns:
      setpoint value

    • getClosedLoopSlot

      public ClosedLoopConfig.ClosedLoopSlot getClosedLoopSlot()
      Get the simulated closed loop slot
      Returns:
      the closed loop slot being used

    • iterate

      public void iterate(double velocity, double vbus, double dt)
      Run internal calculations and set internal state.

      This method belongs in Simulation Periodic. Use a WPILib physics simulation class or equivalent to calculate the velocity from the applied output and pass it in to this method, which will update the simulated state of the motor.

      Simulating a Spark this way will use the configurations and controls of the original CANSparkMax or CANSparkFlex device to simulate velocity noise, all supported control modes (including MAXMotion), arb feedforward input, voltage compensation, limit switches, soft limits, and current limiting, with algorithms translated directly from the Spark firmware.

      This method will update the CANSparkSim's position and velocity, accessible with getPosition() and getVelocity(). These values are automatically used as the selected feedback sensor for calculations like closed-loop control and soft limits, and are reflected in the selected sensor's value. Other sensors each have their own Sim class, which can be used to inject their positions based on these calculations, to match how they are configured physically. For example, to represent an Absolute Encoder on a 1:5 ratio from the mechanism, SparkAbsoluteEncoderSim.iterate(double, double) is called each simulationPeriodic loop with a velocity divided by 5. The selected sensor's position and velocity will automatically be updated to match the CANSparkSim's when this method is called.

      Parameters:
      velocity - The externally calculated velocity in units after conversion. For example, if the velocity factor is 1, use RPM. If the velocity factor is (1 / 60) use RPS. The internal simulation state will 'lag' slightly behind this input due to the SPARK Device internal filtering. Noise will also be added.
      vbus - Bus voltage in volts (See WPILib's BatterySim class to simulate this, or use 12V)
      dt - Simulation time step in seconds

    • getVelocity

      public double getVelocity()
      Get the simulation velocity. This should be equivalent to calling CANEncoder().getVelocity()
      Returns:
      Velocity of the SPARK Device accounting for conversion factor

    • setVelocity

      public void setVelocity(double velocity)
      Set the simulation velocity. This method expects units after the conversion factor (your program's native units).

      Only use this method if not calling iterate()

      Parameters:
      velocity - simulation velocity

    • getPosition

      public double getPosition()
      Get the simulation position. This should be equivalent to calling CANEncoder().getPosition()
      Returns:
      Velocity of the SPARK Device

    • setPosition

      public void setPosition(double position)
      Set the simulated position. This is equivalent to calling CANEncoder().setPosition(), in fact you probably are using that unless you have a good reason to set the sim value separately, or are running simulation without using iterate()
      Parameters:
      position - simulated position in your programs units (after conversion)

    • getBusVoltage

      public double getBusVoltage()
      Get the simulated bus voltage
      Returns:
      simulated bus voltage in volts

    • setBusVoltage

      public void setBusVoltage(double voltage)
      Set the simulated bus voltage. Use this if you are not using the iterate() method.
      Parameters:
      voltage - bus voltage in volts

    • getMotorCurrent

      public double getMotorCurrent()
      Get the simulated motor current in amps. This is equivalent to running spark.getOutputCurrent()
      Returns:
      motor current in amps

    • setMotorCurrent

      public void setMotorCurrent(double current)
      Set the simulated motor current. The iterate() method also sets this value. If you are using an external method to calculate the current, but still want to use the iterate() method, call this function *after* iterate()
      Parameters:
      current - current in amps

    • enable

      public void enable()
      Enable the Spark Device, allowing the motor to run.

    • disable

      public void disable()
      Disable the Spark Device, causing the output to go to 0

    • useDriverStationEnable

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

    • getRelativeEncoderSim

      public SparkRelativeEncoderSim getRelativeEncoderSim()
      Get the SparkAbsoluteEncoderSim 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 SparkAbsoluteEncoderSim object associated with this Spark Device

    • getAbsoluteEncoderSim

      public SparkAbsoluteEncoderSim getAbsoluteEncoderSim()
      Get the SparkAbsoluteEncoderSim 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 SparkAbsoluteEncoderSim object associated with this Spark Device

    • getAnalogSensorSim

      public SparkAnalogSensorSim getAnalogSensorSim()
      Get the SparkAnalogSensorSim 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 SparkAnalogSensorSim object associated with this Spark Device

    • getForwardLimitSwitchSim

      public SparkLimitSwitchSim getForwardLimitSwitchSim()
      Get the Forward SparkLimitSwitchSim 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 Forward SparkLimitSwitchSim object associated with this Spark Device

    • getReverseLimitSwitchSim

      public SparkLimitSwitchSim getReverseLimitSwitchSim()
      Get the Reverse SparkLimitSwitchSim 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 Reverse SparkLimitSwitchSim object associated with this Spark Device

    • getFaultManager

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