Package com.ctre.phoenix6.mechanisms.swerve

Class SimSwerveDrivetrain

java.lang.Object

com.ctre.phoenix6.mechanisms.swerve.SimSwerveDrivetrain

public class SimSwerveDrivetrain
extends Object

Extremely simplified swerve drive simulation class.

This class assumes that the swerve drive is perfect, meaning that there is no scrub and the wheels do not slip.

In addition, it assumes the inertia of the robot is governed only by the inertia of the steer module and the individual drive wheels. Robot-wide inertia is not accounted for, and neither is translational vs rotational inertia of the robot.

These assumptions provide a simplified example that can demonstrate the behavior of a swerve drive in simulation. Users are encouraged to expand this model for their own use.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
class	SimSwerveDrivetrain.SimSwerveModule

Field Summary

Fields

Modifier and Type	Field	Description
SwerveDriveKinematics	Kinem
Rotation2d	LastAngle
protected SimSwerveDrivetrain.SimSwerveModule[]	m_modules
protected int	ModuleCount
Pigeon2SimState	PigeonSim

Constructor Summary

Constructors

Constructor	Description
SimSwerveDrivetrain(Translation2d[] wheelLocations, Pigeon2 pigeon, SwerveDrivetrainConstants driveConstants, SwerveModuleConstants... moduleConstants)

Method Summary

Modifier and Type	Method	Description
protected double	addFriction(double motorVoltage, double frictionVoltage)	Applies the effects of friction to dampen the motor voltage.
void	update(double dtSeconds, double supplyVoltage, SwerveModule... modulesToApply)	Update this simulation for the time duration.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

PigeonSim

public final Pigeon2SimState PigeonSim

m_modules

protected final SimSwerveDrivetrain.SimSwerveModule[] m_modules

ModuleCount

protected final int ModuleCount

Kinem

public final SwerveDriveKinematics Kinem

LastAngle

public Rotation2d LastAngle

Constructor Details

SimSwerveDrivetrain

public SimSwerveDrivetrain(Translation2d[] wheelLocations, Pigeon2 pigeon, SwerveDrivetrainConstants driveConstants, SwerveModuleConstants... moduleConstants)

Method Details

update

public void update(double dtSeconds, double supplyVoltage, SwerveModule... modulesToApply)

Update this simulation for the time duration.

This performs a simulation update on all the simulated devices

Parameters:

dtSeconds - The time delta between this update and the previous update

supplyVoltage - The voltage as seen at the motor controllers

modulesToApply - What modules to apply the update to

addFriction

protected double addFriction(double motorVoltage, double frictionVoltage)

Applies the effects of friction to dampen the motor voltage.

Parameters:

motorVoltage - Voltage output by the motor

frictionVoltage - Voltage required to overcome friction

Returns:

Friction-dampened motor voltage