CANSparkMaxSim.java

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package frc.robot.myclasses;

import com.revrobotics.CANEncoder;
import com.revrobotics.CANError;
import com.revrobotics.CANPIDController;
import com.revrobotics.CANSparkMax;
import com.revrobotics.ControlType;

import frc.robot.Robot;

/**
 * Add your docs here.
 */
public class CANSparkMaxSim extends CANSparkMax {

    public class CANEncoderSim extends CANEncoder {
        public CANEncoderSim(CANSparkMax device) {
            super(device);
        }

        @Override
        public double getVelocity() {
            if (simulated) {
                return 0.0;
            } else {
                return super.getVelocity();
            }
        }

        @Override
        public double getPosition() {
            if (simulated) {
                return 0.0;
            } else {
                return super.getPosition();
            }
        }
    }

    public class CANPIDControllerSim extends CANPIDController {
        public CANPIDControllerSim(CANSparkMax device) {
            super(device);
        }
        
        @Override
        public CANError setReference(double value, ControlType ctrl) {
            if (simulated) {
                return CANError.kOk;
            } else {
                return super.setReference(value, ctrl);
            }
        }
    }

    private boolean inverted = false;
    private boolean simulated = false;
    public CANSparkMaxSim(int deviceID, MotorType type) {
        super(deviceID, type);
        simulated = Robot.isSimulation();
    }

    @Override
    public void setInverted(boolean isInverted) {
        if (simulated) {
            inverted = isInverted;
        } else {
            super.setInverted(isInverted);
        }
    }

    @Override
    public boolean getInverted() {
        if (simulated) {
            return inverted;
        } else {
            return super.getInverted();
        }
    }

    @Override
    public void set(double speed) {
        if (simulated) {

        } else {
            super.set(speed);
        }
    }

    @Override
    public double get() {
        if (simulated) {
            return 0.0;
        } else {
            return super.get();
        }
    }

    @Override
    public void stopMotor() {
        if (simulated) {
            
        } else {
            super.stopMotor();
        }
    }
    
    @Override
    public double getAppliedOutput() {
        if (simulated) {
		    return 0.0;
        } else {
            return super.getAppliedOutput();
        }
	}

    @Override
    public CANEncoderSim getEncoder() {
        return new CANEncoderSim(this);
    }

    @Override
    public CANPIDControllerSim getPIDController() {
        return new CANPIDControllerSim(this);
    }
}