-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
Showing
2 changed files
with
110 additions
and
8 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
86 changes: 86 additions & 0 deletions
86
src/main/java/org/jmhsrobotics/frc2024/subsystems/arm/SimableAbsoluteEncoder.java
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,86 @@ | ||
package org.jmhsrobotics.frc2024.subsystems.arm; | ||
|
||
import com.revrobotics.AbsoluteEncoder; | ||
import com.revrobotics.REVLibError; | ||
|
||
import edu.wpi.first.wpilibj.RobotBase; | ||
|
||
public class SimableAbsoluteEncoder implements AbsoluteEncoder { | ||
|
||
private AbsoluteEncoder enc; | ||
private double position; | ||
|
||
SimableAbsoluteEncoder(AbsoluteEncoder enc) { | ||
this.enc = enc; | ||
} | ||
|
||
@Override | ||
public double getPosition() { | ||
if (RobotBase.isSimulation()) { | ||
return position; | ||
} else { | ||
return enc.getPosition(); | ||
} | ||
|
||
} | ||
|
||
@Override | ||
public double getVelocity() { | ||
return enc.getVelocity(); | ||
} | ||
|
||
@Override | ||
public REVLibError setPositionConversionFactor(double factor) { | ||
return enc.setPositionConversionFactor(factor); | ||
} | ||
|
||
@Override | ||
public double getPositionConversionFactor() { | ||
return enc.getPositionConversionFactor(); | ||
} | ||
|
||
@Override | ||
public REVLibError setVelocityConversionFactor(double factor) { | ||
return enc.setVelocityConversionFactor(factor); | ||
} | ||
|
||
@Override | ||
public double getVelocityConversionFactor() { | ||
return enc.getVelocityConversionFactor(); | ||
} | ||
|
||
@Override | ||
public REVLibError setInverted(boolean inverted) { | ||
return enc.setInverted(inverted); | ||
} | ||
|
||
@Override | ||
public boolean getInverted() { | ||
return enc.getInverted(); | ||
} | ||
|
||
@Override | ||
public REVLibError setAverageDepth(int depth) { | ||
return enc.setAverageDepth(depth); | ||
} | ||
|
||
@Override | ||
public int getAverageDepth() { | ||
return enc.getAverageDepth(); | ||
} | ||
|
||
@Override | ||
public REVLibError setZeroOffset(double offset) { | ||
return enc.setZeroOffset(offset); | ||
} | ||
|
||
@Override | ||
public double getZeroOffset() { | ||
return enc.getZeroOffset(); | ||
} | ||
|
||
public void setPosition(double position) { | ||
this.position = position; | ||
} | ||
|
||
} |