Package com.ctre.phoenix.sensors

Class CANCoderSimCollection

java.lang.Object
com.ctre.phoenix.sensors.CANCoderSimCollection
public class CANCoderSimCollection extends Object
Collection of simulation commands available to a CANCoder. Use the getSimCollection() routine inside your CANCoder to create the respective sim collection.

  • Constructor Details

    • CANCoderSimCollection

      public CANCoderSimCollection(CANCoder canCoder)
      Constructor for CANCoderSimCollection
      Parameters:
      canCoder - CANCoder to connect Collection to

  • Method Details

    • setBusVoltage

      public ErrorCode setBusVoltage(double vbat)
      Sets the simulated bus voltage of the CANCoder.

      The minimum allowed bus voltage is 4 V - values below this will be promoted to 4 V.

      Parameters:
      vbat - the bus voltage in volts
      Returns:
      error code

    • setRawPosition

      public ErrorCode setRawPosition(int newPos)
      Sets the simulated raw position of the CANCoder.

      The CANCoder integrates this to calculate the true reported position.

      When using the WPI Sim GUI, you will notice a readonly 'position' and settable 'rawPositionInput'. The readonly signal is the emulated position which will match self-test in Tuner and the hardware API. Changes to 'rawPositionInput' will be integrated into the emulated position. This way a simulator can modify the position without overriding your hardware API calls for home-ing your sensor.

      Inputs to this function over time should be continuous, as user calls of setPosition() will be accounted for in the calculation.

      Parameters:
      newPos - the new raw position in native units
      Returns:
      error code

    • addPosition

      public ErrorCode addPosition(int dPos)
      Adds to the simulated position of the CANCoder.
      Parameters:
      dPos - the change in position in native units
      Returns:
      error code

    • setVelocity

      public ErrorCode setVelocity(int newVel)
      Sets the simulated velocity of the CANCoder.
      Parameters:
      newVel - the new velocity in native units per 100ms
      Returns:
      error code