Merge pull request #30 from DeepBlueRobotics/cancoder-sim-hints

Enable Swerve Simulation

Author: CoolSpy3

src/main/java/org/carlmontrobotics/lib199/sim/MockedCANCoder.java

@@ -1,5 +1,7 @@
 package org.carlmontrobotics.lib199.sim;
 
+import java.util.HashMap;
+
 import com.ctre.phoenix.sensors.CANCoder;
 import com.ctre.phoenix.sensors.CANCoderSimCollection;
 
@@ -13,21 +15,34 @@ public class MockedCANCoder {
 
     public static final double kCANCoderCPR = 4096;
 
+    private static final HashMap<Integer, MockedCANCoder> sims = new HashMap<>();
+
     private int port;
     private SimDevice device;
     private SimDouble position; // Rotations - Continuous
+    private SimDouble gearing;
     private CANCoderSimCollection sim;
 
     public MockedCANCoder(CANCoder canCoder) {
         port = canCoder.getDeviceID();
         device = SimDevice.create("CANCoder", port);
         position = device.createDouble("count", Direction.kInput, 0);
+        gearing = device.createDouble("gearing", Direction.kOutput, 1);
         sim = canCoder.getSimCollection();
         Lib199Subsystem.registerPeriodic(this::update);
+        sims.put(port, this);
     }
 
     public void update() {
         sim.setRawPosition((int) (position.get() * kCANCoderCPR));
     }
 
+    public void setGearing(double gearing) {
+        this.gearing.set(gearing);
+    }
+
+    public static void setGearing(int port, double gearing) {
+        if(sims.containsKey(port)) sims.get(port).setGearing(gearing);
+    }
+
 }

src/main/java/org/carlmontrobotics/lib199/sim/MockedSparkEncoder.java

@@ -1,24 +1,30 @@
 package org.carlmontrobotics.lib199.sim;
 
+import java.util.HashMap;
+
 import com.revrobotics.REVLibError;
 
 import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDouble;
 import edu.wpi.first.hal.SimDevice.Direction;
 
 public class MockedSparkEncoder implements AutoCloseable {
+
+    private static final HashMap<Integer, MockedSparkEncoder> sims = new HashMap<>();
+
     private SimDevice device;
     private SimDouble dpp;
     private SimDouble count;
+    private SimDouble gearing;
     // Default value for a CANEncoder
     private final int countsPerRevolution = 4096;
 
     public MockedSparkEncoder(int id) {
-        // Match motor on CAN 0 with channels [0, 1], CAN 1 to channels [2, 3], etc.
-        // Probably not the best way to do it but it works
-        device = SimDevice.create("CANEncoder_SparkMax", id);
+        device = SimDevice.create("RelativeEncoder", id);
         dpp = device.createDouble("distancePerPulse", Direction.kOutput, 1);
         count = device.createDouble("count", Direction.kInput, 0);
+        gearing = device.createDouble("gearing", Direction.kOutput, 1);
+        sims.put(id, this);
     }
 
     public double getPosition() {
@@ -46,4 +52,13 @@ public double getPositionConversionFactor() {
     public void close() {
         device.close();
     }
+
+    public void setGearing(double gearing) {
+        this.gearing.set(gearing);
+    }
+
+    public static void setGearing(int port, double gearing) {
+        if(sims.containsKey(port)) sims.get(port).setGearing(gearing);
+    }
+
 }

src/test/java/org/carlmontrobotics/lib199/sim/MockedSparkEncoderTest.java

@@ -36,11 +36,11 @@ public void testDeviceCreation() {
     }
 
     private void assertTestDeviceCreation(int id) {
-        String deviceName = String.format("CANEncoder_SparkMax[%d]", id);
+        String deviceName = String.format("RelativeEncoder[%d]", id);
         assertFalse(simDeviceExists(deviceName));
         try(SafelyClosable closableEncoder = createEncoder(id)) {
             assertTrue(simDeviceExists(deviceName));
-            SimDeviceSim sim = new SimDeviceSim("CANEncoder_SparkMax", id);
+            SimDeviceSim sim = new SimDeviceSim("RelativeEncoder", id);
             assertEquals(2, Stream.of(sim.enumerateValues())
                 .map(info -> info.name)
                 .distinct()
@@ -102,7 +102,7 @@ private void withEncoders(EncoderTest func) {
 
     private void withEncoder(int id, EncoderTest func) {
         try(SafelyClosable encoder = createEncoder(id)) {
-            SimDeviceSim sim = new SimDeviceSim("CANEncoder_SparkMax", id);
+            SimDeviceSim sim = new SimDeviceSim("RelativeEncoder", id);
             SimDouble dpp = sim.getDouble("distancePerPulse");
             SimDouble count = sim.getDouble("count");
             assertNotNull(dpp);