Package com.ctre.phoenix6.sim

Class TalonFXSSimState

java.lang.Object
com.ctre.phoenix6.sim.TalonFXSSimState
public class TalonFXSSimState extends Object
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 getMotorVoltage() or getTorqueCurrent() to a physics simulator (such as WPILib's DCMotorSim), which then calculates the new motor position and velocity.

  • Field Details

    • MotorOrientation

      public ChassisReference MotorOrientation
      The orientation of the motor attached to the TalonFXS relative to the robot chassis. This include the Commutation sensor source.

      This value should not be changed based on the TalonFXS invert. Rather, this value should be changed when the mechanical linkage between the motor and the robot changes.

    • ExtSensorOrientation

      public ChassisReference ExtSensorOrientation
      The orientation of an external sensor attached to the TalonFXS relative to the robot chassis. This does NOT include the Commutation sensor source.

      This value should not be changed based on the TalonFXS invert. Rather, this value should be changed when the mechanical linkage between the external sensor and the robot changes.

    • PulseWidthSensorOffset

      public double PulseWidthSensorOffset
      The offset of an absolute external sensor attached to the Talon FXS relative to the robot chassis, in rotations. This offset is subtracted from the Pulse Width position, allowing for a non-zero sensor offset config to behave correctly in simulation.

      This value should not be changed after initialization unless the mechanical linkage between the external sensor and the robot changes.

    • QuadratureEdgesPerRotation

      public int QuadratureEdgesPerRotation
      The number of quadrature edges per sensor rotation for an external quadrature sensor attached to the TalonFXS.

  • Constructor Details

    • TalonFXSSimState

      public TalonFXSSimState(CoreTalonFXS device)
      Creates an object to control the state of the given TalonFXS.

      This constructor defaults to a counter-clockwise positive motor and external sensor orientation relative to the robot chassis.

      Note the recommended method of accessing simulation features is to use CoreTalonFXS.getSimState().

      Parameters:
      device - Device to which this simulation state is attached

    • TalonFXSSimState

      public TalonFXSSimState(CoreTalonFXS device, ChassisReference motorOrientation, ChassisReference extSensorOrientation)
      Creates an object to control the state of the given TalonFXS.

      Note the recommended method of accessing simulation features is to use CoreTalonFXS.getSimState().

      Parameters:
      device - Device to which this simulation state is attached
      motorOrientation - Orientation of the motor (and commutation sensor) relative to the robot chassis
      extSensorOrientation - Orientation of the external sensor relative to the robot chassis

  • Method Details

    • getLastStatusCode

      public final StatusCode getLastStatusCode()
      Gets the last status code generated by a simulation function.

      Not all functions return a status code but can potentially report errors. This function can be used to retrieve those status codes.

      Returns:
      Last status code generated by a simulation function

    • getMotorVoltage

      public final double getMotorVoltage()
      Gets the simulated output voltage of the motor.
      Returns:
      Voltage applied to the motor in Volts

    • getMotorVoltageMeasure

      public final Voltage getMotorVoltageMeasure()
      Gets the simulated output voltage of the motor as a unit type.
      Returns:
      Voltage applied to the motor

    • getTorqueCurrent

      public final double getTorqueCurrent()
      Gets the simulated output torque current of the motor.

      Phoenix 6 simulation automatically calculates current.

      Returns:
      Torque current applied to the motor in Amperes

    • getTorqueCurrentMeasure

      public final Current getTorqueCurrentMeasure()
      Gets the simulated output torque current of the motor as a unit type.

      Phoenix 6 simulation automatically calculates current.

      Returns:
      Torque current applied to the motor

    • getSupplyCurrent

      public final double getSupplyCurrent()
      Gets the simulated supply current of the TalonFXS.

      Phoenix 6 simulation automatically calculates current.

      Returns:
      Supply current of the TalonFXS in Amperes

    • getSupplyCurrentMeasure

      public final Current getSupplyCurrentMeasure()
      Gets the simulated supply current of the TalonFXS as a unit type.

      Phoenix 6 simulation automatically calculates current.

      Returns:
      Supply current of the TalonFXS

    • getAnalogVoltage

      public final double getAnalogVoltage()
      Gets the simulated analog voltage of the TalonFXS.
      Returns:
      Voltage of the simulated analog input pin on the TalonFXS.

    • getAnalogVoltageMeasure

      public final Voltage getAnalogVoltageMeasure()
      Gets the simulated analog voltage of the TalonFXS.
      Returns:
      Voltage of the simulated analog input pin on the TalonFXS.

    • setSupplyVoltage

      public final StatusCode setSupplyVoltage(double volts)
      Sets the simulated supply voltage of the TalonFXS.

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

      Parameters:
      volts - The supply voltage in Volts
      Returns:
      Status code

    • setSupplyVoltage

      public final StatusCode setSupplyVoltage(Voltage voltage)
      Sets the simulated supply voltage of the TalonFXS.

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

      Parameters:
      voltage - The supply voltage
      Returns:
      Status code

    • setForwardLimit

      public final StatusCode setForwardLimit(boolean closed)
      Sets the simulated forward limit switch of the TalonFXS.
      Parameters:
      closed - Whether the limit switch is closed
      Returns:
      Status code

    • setReverseLimit

      public final StatusCode setReverseLimit(boolean closed)
      Sets the simulated reverse limit switch of the TalonFXS.
      Parameters:
      closed - Whether the limit switch is closed
      Returns:
      Status code

    • setRawRotorPosition

      public final StatusCode setRawRotorPosition(double rotations)
      Sets the simulated raw rotor position of the TalonFXS. This is the position of the rotor (before gear ratio) used for the Commutation feedback source.

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

      The TalonFXS integrates this to calculate the true reported rotor 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 hardware API calls for home-ing the sensor.

      Parameters:
      rotations - The raw position in rotations
      Returns:
      Status code

    • setRawRotorPosition

      public final StatusCode setRawRotorPosition(Angle position)
      Sets the simulated raw rotor position of the TalonFXS. This is the position of the rotor (before gear ratio) used for the Commutation feedback source.

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

      The TalonFXS integrates this to calculate the true reported rotor 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 hardware API calls for home-ing the sensor.

      Parameters:
      position - The raw position
      Returns:
      Status code

    • setAnalogVoltage

      public final StatusCode setAnalogVoltage(double voltage)
      Sets the simulated voltage of the analog input pin on the TalonFXS data port.
      Parameters:
      voltage - Voltage of the pin
      Returns:
      Status code

    • setAnalogVoltage

      public final StatusCode setAnalogVoltage(Voltage voltage)
      Sets the simulated voltage of the analog input pin on the TalonFXS data port.
      Parameters:
      voltage - Voltage of the pin
      Returns:
      Status code

    • addRotorPosition

      public final StatusCode addRotorPosition(double dRotations)
      Adds to the simulated rotor position of the TalonFXS. This adds to the position of the rotor (before gear ratio) used for the Commutation feedback source.
      Parameters:
      dRotations - The change in position in rotations
      Returns:
      Status code

    • addRotorPosition

      public final StatusCode addRotorPosition(Angle dPosition)
      Adds to the simulated rotor position of the TalonFXS. This adds to the position of the rotor (before gear ratio) used for the Commutation feedback source.
      Parameters:
      dPosition - The change in position
      Returns:
      Status code

    • setRotorVelocity

      public final StatusCode setRotorVelocity(double rps)
      Sets the simulated rotor velocity of the TalonFXS. This is the velocity of the rotor (before gear ratio) used for the Commutation feedback source.
      Parameters:
      rps - The new velocity in rotations per second
      Returns:
      Status code

    • setRotorVelocity

      public final StatusCode setRotorVelocity(AngularVelocity velocity)
      Sets the simulated rotor velocity of the TalonFXS. This is the velocity of the rotor (before gear ratio) used for the Commutation feedback source.
      Parameters:
      velocity - The new velocity
      Returns:
      Status code

    • setRotorAcceleration

      public final StatusCode setRotorAcceleration(double rpss)
      Sets the simulated rotor acceleration of the TalonFXS. This is the acceleration of the rotor (before gear ratio) used for the Commutation feedback source.
      Parameters:
      rpss - The new acceleration in rotations per second²
      Returns:
      Status code

    • setRotorAcceleration

      public final StatusCode setRotorAcceleration(AngularAcceleration acceleration)
      Sets the simulated rotor acceleration of the TalonFXS. This is the acceleration of the rotor (before gear ratio) used for the Commutation feedback source.
      Parameters:
      acceleration - The new acceleration
      Returns:
      Status code

    • setRawQuadraturePosition

      public final StatusCode setRawQuadraturePosition(double rotations)
      Sets the simulated raw quadrature position of the TalonFXS. This is the position of an external quadrature encoder after any gear ratio between the rotor and the sensor.

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

      The TalonFXS integrates this to calculate the true reported quadrature 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 hardware API calls for home-ing the sensor.

      Parameters:
      rotations - The raw position in rotations
      Returns:
      Status code

    • setRawQuadraturePosition

      public final StatusCode setRawQuadraturePosition(Angle position)
      Sets the simulated raw quadrature position of the TalonFXS. This is the position of an external quadrature encoder after any gear ratio between the rotor and the sensor.

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

      The TalonFXS integrates this to calculate the true reported quadrature 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 hardware API calls for home-ing the sensor.

      Parameters:
      position - The raw position
      Returns:
      Status code

    • addQuadraturePosition

      public final StatusCode addQuadraturePosition(double dRotations)
      Adds to the simulated quadrature position of the TalonFXS. This adds to the position of an external quadrature encoder after any gear ratio between the rotor and the sensor.
      Parameters:
      dRotations - The change in position in rotations
      Returns:
      Status code

    • addQuadraturePosition

      public final StatusCode addQuadraturePosition(Angle dPosition)
      Adds to the simulated quadrature position of the TalonFXS. This adds to the position of an external quadrature encoder after any gear ratio between the rotor and the sensor.
      Parameters:
      dPosition - The change in position
      Returns:
      Status code

    • setQuadratureVelocity

      public final StatusCode setQuadratureVelocity(double rps)
      Sets the simulated quadrature velocity of the TalonFXS. This is the velocity of an external quadrature encoder after any gear ratio between the rotor and the sensor.
      Parameters:
      rps - The new velocity in rotations per second
      Returns:
      Status code

    • setQuadratureVelocity

      public final StatusCode setQuadratureVelocity(AngularVelocity velocity)
      Sets the simulated quadrature velocity of the TalonFXS. This is the velocity of an external quadrature encoder after any gear ratio between the rotor and the sensor.
      Parameters:
      velocity - The new velocity
      Returns:
      Status code

    • setQuadratureAcceleration

      public final StatusCode setQuadratureAcceleration(double rpss)
      Sets the simulated quadrature acceleration of the TalonFXS. This is the acceleration of an external quadrature encoder after any gear ratio between the rotor and the sensor.
      Parameters:
      rpss - The new acceleration in rotations per second²
      Returns:
      Status code

    • setQuadratureAcceleration

      public final StatusCode setQuadratureAcceleration(AngularAcceleration acceleration)
      Sets the simulated quadrature acceleration of the TalonFXS. This is the acceleration of an external quadrature encoder after any gear ratio between the rotor and the sensor.
      Parameters:
      acceleration - The new acceleration
      Returns:
      Status code

    • setPulseWidthPosition

      public final StatusCode setPulseWidthPosition(double rotations)
      Sets the simulated pulse width position of the TalonFXS. This is the position of an external PWM encoder after any gear ratio between the rotor and the sensor.
      Parameters:
      rotations - The new position in rotations
      Returns:
      Status code

    • setPulseWidthPosition

      public final StatusCode setPulseWidthPosition(Angle position)
      Sets the simulated pulse width position of the TalonFXS. This is the position of an external PWM encoder after any gear ratio between the rotor and the sensor.
      Parameters:
      position - The new position
      Returns:
      Status code

    • setPulseWidthVelocity

      public final StatusCode setPulseWidthVelocity(double rps)
      Sets the simulated pulse width velocity of the TalonFXS. This is the position of an external PWM encoder after any gear ratio between the rotor and the sensor.
      Parameters:
      rps - The new velocity in rotations per second
      Returns:
      Status code

    • setPulseWidthVelocity

      public final StatusCode setPulseWidthVelocity(AngularVelocity velocity)
      Sets the simulated pulse width velocity of the TalonFXS. This is the position of an external PWM encoder after any gear ratio between the rotor and the sensor.
      Parameters:
      velocity - The new velocity
      Returns:
      Status code