REVPhysicsSim

java.lang.Object

com.revrobotics.REVPhysicsSim

public class REVPhysicsSim extends Object

Manages physics simulation for REV Robotics products.

Constructor Summary

Constructors

Constructor

Description

REVPhysicsSim()
Method Summary

Modifier and Type

Method

Description

void

addSparkMax(CANSparkMax spark, float stallTorque, float freeSpeed)

Adds a SparkMAX controller to the simulator.

void

addSparkMax(CANSparkMax spark, edu.wpi.first.math.system.plant.DCMotor motor)

Adds a SparkMAX controller to the simulator.

static REVPhysicsSim

getInstance()

Gets the robot simulator instance.

void

run()

Runs the simulator: - enable the robot - runs all SparkMax devices connected

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details
- REVPhysicsSim
  
  public REVPhysicsSim()
Method Details
- getInstance
  
  public static REVPhysicsSim getInstance()
  
  Gets the robot simulator instance.
- addSparkMax
  
  public void addSparkMax(CANSparkMax spark, float stallTorque, float freeSpeed)
  
  Adds a SparkMAX controller to the simulator.
  
  Parameters:
  
  spark - The SparkMAX device
  
  stallTorque - The stall Torque of the motor connected to SparkMAX units are N m
  
  freeSpeed - The maximum freeSpeed in RPM
- addSparkMax
  
  public void addSparkMax(CANSparkMax spark, edu.wpi.first.math.system.plant.DCMotor motor)
  
  Adds a SparkMAX controller to the simulator.
  
  Parameters:
  
  spark - The SparkMAX device
  
  motor - the motor connected to the spark max
- run
  
  public void run()
  
  Runs the simulator: - enable the robot - runs all SparkMax devices connected