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bsimmons99/CANSparkMaxSim.java Secret

Created Feb 19, 2020
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/*----------------------------------------------------------------------------*/
/* 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);
}
}
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