sim coral

SciBorgs · Jan 11, 2025 · d3baee2 · d3baee2
1 parent d8c2894
commit d3baee2
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Showing 3 changed files with 21 additions and 3 deletions.
diff --git a/src/main/java/org/sciborgs1155/robot/scoral/NoScoral.java b/src/main/java/org/sciborgs1155/robot/scoral/NoScoral.java
@@ -7,7 +7,7 @@ public void setPower(double power) {}
 
   @Override
   public boolean beambreak() {
-    return false;
+    return true;
   }
 
   @Override

diff --git a/src/main/java/org/sciborgs1155/robot/scoral/ScoralConstants.java b/src/main/java/org/sciborgs1155/robot/scoral/ScoralConstants.java
@@ -10,4 +10,8 @@ public class ScoralConstants {
   public static final double POWER = 0.5;
   public static final Current CURRENT_LIMI = Amps.of(45);
   public static final Time RAMP_TIME = Milliseconds.of(50);
+
+  public static final double kS = 0;
+  public static final double kV = 0.2;
+  public static final double kA = 0.5;
 }
diff --git a/src/main/java/org/sciborgs1155/robot/scoral/SimScoral.java b/src/main/java/org/sciborgs1155/robot/scoral/SimScoral.java
@@ -1,13 +1,27 @@
 package org.sciborgs1155.robot.scoral;
 
+import static edu.wpi.first.units.Units.Seconds;
+import static org.sciborgs1155.robot.Constants.PERIOD;
+import static org.sciborgs1155.robot.scoral.ScoralConstants.*;
+
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.system.plant.LinearSystemId;
+import edu.wpi.first.wpilibj.simulation.DCMotorSim;
+
 public class SimScoral implements ScoralIO {
 
+  private final DCMotorSim sim =
+      new DCMotorSim(LinearSystemId.createDCMotorSystem(kV, kA), DCMotor.getNEO(1));
+
   @Override
-  public void setPower(double power) {}
+  public void setPower(double power) {
+    sim.setInputVoltage(power);
+    sim.update(PERIOD.in(Seconds));
+  }
 
   @Override
   public boolean beambreak() {
-    return false;
+    return true;
   }
 
   @Override