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Merge pull request #1 from HunterBarclay/ktvuwhs/2025-sim-ver
2025 Minor Simulation Tweaks
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145 changes: 56 additions & 89 deletions
145
simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,89 +1,56 @@ | ||
| // package com.autodesk.synthesis.ctre; | ||
|
|
||
| // import com.autodesk.synthesis.CANEncoder; | ||
| // import com.autodesk.synthesis.CANMotor; | ||
| // import com.ctre.phoenix6.signals.NeutralModeValue; | ||
| // import com.ctre.phoenix6.StatusSignal; | ||
| // import com.ctre.phoenix6.configs.TalonFXConfigurator; | ||
| // import com.ctre.phoenix6.hardware.DeviceIdentifier; | ||
|
|
||
| // public class TalonFX extends com.ctre.phoenix6.hardware.TalonFX { | ||
| // private CANMotor m_motor; | ||
| // private CANEncoder m_encoder; | ||
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| // /** | ||
| // * Creates a new TalonFX, wrapped with simulation support. | ||
| // * | ||
| // * @param deviceNumber CAN Device ID. | ||
| // */ | ||
| // public TalonFX(int deviceNumber) { | ||
| // super(deviceNumber); | ||
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| // this.m_motor = new CANMotor("SYN TalonFX", deviceNumber, 0.0, false, 0.3); | ||
| // this.m_encoder = new CANEncoder("SYN TalonFX", deviceNumber); | ||
| // } | ||
|
|
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| // /** | ||
| // * Sets the torque of the real and simulated motors | ||
| // * | ||
| // * @param percentOutput The torque | ||
| // */ | ||
| // @Override | ||
| // public void set(double percentOutput) { | ||
| // super.set(percentOutput); | ||
| // this.m_motor.setPercentOutput(percentOutput); | ||
| // } | ||
|
|
||
| // /** | ||
| // * Sets both the real and simulated motors to neutral mode | ||
| // * | ||
| // * @param mode The neutral mode value | ||
| // * | ||
| // */ | ||
| // @Override | ||
| // public void setNeutralMode(NeutralModeValue mode) { | ||
| // super.setNeutralMode(mode); | ||
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||
| // this.m_motor.setBrakeMode(mode == NeutralModeValue.Brake); | ||
| // } | ||
|
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| // /** | ||
| // * Gets and internal configurator for both the simulated and real motors | ||
| // * | ||
| // * @return The internal configurator for this Talon motor | ||
| // */ | ||
| // @Override | ||
| // public TalonFXConfigurator getConfigurator() { | ||
| // DeviceIdentifier id = this.deviceIdentifier; | ||
| // return new com.autodesk.synthesis.ctre.TalonFXConfigurator(id, this); | ||
| // } | ||
|
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| // // called internally by the configurator to set the deadband, not for user use | ||
| // public void setNeutralDeadband(double deadband) { | ||
| // this.m_motor.setNeutralDeadband(deadband); | ||
| // } | ||
|
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||
| // /** | ||
| // * Gets the position of the simulated encoder | ||
| // * | ||
| // * @return The motor position in revolutions | ||
| // */ | ||
| // @Override | ||
| // public StatusSignal<Double> getPosition() { | ||
| // Double pos = this.m_encoder.getPosition(); | ||
| // super.setPosition(pos); | ||
| // return super.getPosition(); | ||
| // } | ||
|
|
||
| // /** | ||
| // * Gets the velocity of the simulated motor according to the simulated encoder | ||
| // * | ||
| // * @return The motor velocity in revolutions per second | ||
| // */ | ||
| // @Override | ||
| // public StatusSignal<Double> getVelocity() { | ||
| // Double velocity = this.m_encoder.getVelocity(); | ||
| // super.set(velocity); | ||
| // return super.getVelocity(); | ||
| // } | ||
| // } | ||
| package com.autodesk.synthesis.ctre; | ||
|
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||
| import com.autodesk.synthesis.CANEncoder; | ||
| import com.autodesk.synthesis.CANMotor; | ||
| import com.ctre.phoenix6.signals.NeutralModeValue; | ||
| import com.ctre.phoenix6.StatusCode; | ||
| import com.ctre.phoenix6.configs.TalonFXConfigurator; | ||
| import com.ctre.phoenix6.hardware.DeviceIdentifier; | ||
|
|
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| public class TalonFX extends com.ctre.phoenix6.hardware.TalonFX { | ||
| private CANMotor m_motor; | ||
| private CANEncoder m_encoder; | ||
|
|
||
| /** | ||
| * Creates a new TalonFX, wrapped with simulation support. | ||
| * | ||
| * @param deviceNumber CAN Device ID. | ||
| */ | ||
| public TalonFX(int deviceNumber) { | ||
| super(deviceNumber); | ||
|
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| this.m_motor = new CANMotor("SYN TalonFX", deviceNumber, 0.0, false, 0.3); | ||
| this.m_encoder = new CANEncoder("SYN TalonFX", deviceNumber); | ||
| } | ||
|
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||
| @Override | ||
| public void set(double percentOutput) { | ||
| super.set(percentOutput); | ||
| this.m_motor.setPercentOutput(percentOutput); | ||
| } | ||
|
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||
| @Override | ||
| public StatusCode setNeutralMode(NeutralModeValue mode) { | ||
| this.m_motor.setBrakeMode(mode == NeutralModeValue.Brake); | ||
| return super.setNeutralMode(mode); | ||
| } | ||
|
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||
| @Override | ||
| public TalonFXConfigurator getConfigurator() { | ||
| DeviceIdentifier id = this.deviceIdentifier; | ||
| return new com.autodesk.synthesis.ctre.TalonFXConfigurator(id, this); | ||
| } | ||
|
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| // called internally by the configurator to set the deadband, not for user use | ||
| public void setNeutralDeadband(double deadband) { | ||
| this.m_motor.setNeutralDeadband(deadband); | ||
| } | ||
|
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| public double getPositionSim() { | ||
| return this.m_encoder.getPosition(); | ||
| } | ||
|
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||
| public double getVelocitySim() { | ||
| return this.m_encoder.getVelocity(); | ||
| } | ||
| } |
68 changes: 34 additions & 34 deletions
68
simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFXConfigurator.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,38 +1,38 @@ | ||
| // package com.autodesk.synthesis.ctre; | ||
| package com.autodesk.synthesis.ctre; | ||
|
|
||
| // import com.ctre.phoenix6.hardware.DeviceIdentifier; | ||
| // import com.ctre.phoenix6.configs.TorqueCurrentConfigs; | ||
| // import com.ctre.phoenix6.StatusCode; | ||
| import com.ctre.phoenix6.hardware.DeviceIdentifier; | ||
| import com.ctre.phoenix6.configs.TorqueCurrentConfigs; | ||
| import com.ctre.phoenix6.StatusCode; | ||
|
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| // /** | ||
| // * TalonFXConfigurator wrapper to add proper WPILib HALSim support. | ||
| // */ | ||
| // public class TalonFXConfigurator extends com.ctre.phoenix6.configs.TalonFXConfigurator { | ||
| // private TalonFX devicePtr; | ||
| /** | ||
| * TalonFXConfigurator wrapper to add proper WPILib HALSim support. | ||
| */ | ||
| public class TalonFXConfigurator extends com.ctre.phoenix6.configs.TalonFXConfigurator { | ||
| private TalonFX devicePtr; | ||
|
|
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| // /** | ||
| // * Creates a new TalonFXConfigurator, wrapped with simulation support. | ||
| // * | ||
| // * @param id Device ID | ||
| // * @param device The motor to configure | ||
| // */ | ||
| // public TalonFXConfigurator(DeviceIdentifier id, TalonFX device) { | ||
| // super(id); | ||
| // // awful, jank solution, please help | ||
| // // if you know how to get a device from an id, let me know | ||
| // this.devicePtr = device; | ||
| // } | ||
| /** | ||
| * Creates a new TalonFXConfigurator, wrapped with simulation support. | ||
| * | ||
| * @param id Device ID | ||
| * @param device The motor to configure | ||
| */ | ||
| public TalonFXConfigurator(DeviceIdentifier id, TalonFX device) { | ||
| super(id); | ||
| // awful, jank solution, please help | ||
| // if you know how to get a device from an id, let me know | ||
| this.devicePtr = device; | ||
| } | ||
|
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| // /** | ||
| // * Applies a torque configuration to a TalonFX motor and passes the new neutral deadband to the simulated motor in fission if applicable | ||
| // * | ||
| // * @param newTorqueCurrent The new torque configuration for this motor | ||
| // */ | ||
| // @Override | ||
| // public StatusCode apply(TorqueCurrentConfigs newTorqueCurrent) { | ||
| // StatusCode code = super.apply(newTorqueCurrent); | ||
| // double newDeadband = newTorqueCurrent.TorqueNeutralDeadband; | ||
| // this.devicePtr.setNeutralDeadband(newDeadband); | ||
| // return code; | ||
| // } | ||
| // } | ||
| /** | ||
| * Applies a torque configuration to a TalonFX motor and passes the new neutral deadband to the simulated motor in fission if applicable | ||
| * | ||
| * @param newTorqueCurrent The new torque configuration for this motor | ||
| */ | ||
| @Override | ||
| public StatusCode apply(TorqueCurrentConfigs newTorqueCurrent) { | ||
| StatusCode code = super.apply(newTorqueCurrent); | ||
| double newDeadband = newTorqueCurrent.TorqueNeutralDeadband; | ||
| this.devicePtr.setNeutralDeadband(newDeadband); | ||
| return code; | ||
| } | ||
| } |
18 changes: 11 additions & 7 deletions
18
...ation/SyntheSimJava/src/main/java/com/autodesk/synthesis/revrobotics/RelativeEncoder.java
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