Namespace CTRE.Phoenix6.Sim

Classes

CANcoderSimState

Class to control the state of a simulated CANcoder.

CANdiSimState

Class to control the state of a simulated CANdi.

CANdleSimState

Class to control the state of a simulated CANdle.

CANrangeSimState

Class to control the state of a simulated CANrange.

DeviceTypeExtensions

Pigeon2SimState

Class to control the state of a simulated Pigeon2.

TalonFXSSimState

Class to control the state of a simulated TalonFXS.

For simulated PID control and current limits to behave correctly, SetRawRotorPosition(double) and SetRotorVelocity(double) must be updated periodically. This is typically done by sending the motor output from MotorVoltage or TorqueCurrent to a physics simulator (such as WPILib's DCMotorSim), which then calculates the new motor position and velocity.

TalonFXSimState

Class to control the state of a simulated TalonFX.

For simulated PID control and current limits to behave correctly, SetRawRotorPosition(double) and SetRotorVelocity(double) must be updated periodically. This is typically done by sending the motor output from MotorVoltage or TorqueCurrent to a physics simulator (such as WPILib's DCMotorSim), which then calculates the new motor position and velocity.

Enums

ChassisReference

Represents the orientation of a device relative to the robot chassis.

DeviceType

Enumeration of all supported device types.

TalonFXSimState.MotorType

Represents the type of motor connected to the simulated Talon FX.