Simulate subsystems

[amorygalili]

Each subsystem should have a simulationPeriodic method:

@Override
public void simulationPeriodic() {
    // sim code goes here
}

Docs on simulating Spark MAX and Flex devices: https://docs.revrobotics.com/revlib/spark/sim/simulation-getting-started#simulating-spark-max-and-flex-devices

Elevator sim example: https://docs.wpilib.org/en/stable/docs/software/wpilib-tools/robot-simulation/physics-sim.html#usage-in-user-code

Example:

// create the normal Spark MAX object
SparkMax max = new SparkMAX(10, MotorType.kBrushless);
// create the Spark MAX sim object
SparkMaxSim maxSim = new SparkMaxSim(max, maxGearbox);

 ElevatorSim m_elevatorSim =
      new ElevatorSim(
          m_elevatorGearbox,
          Constants.kElevatorGearing,
          Constants.kCarriageMass,
          Constants.kElevatorDrumRadius,
          Constants.kMinElevatorHeightMeters,
          Constants.kMaxElevatorHeightMeters,
          true,
          0,
          0.01,
          0.0);

public void simulationPeriodic() {
    // In this method, we update our simulation of what our elevator is doing
    // First, we set our "inputs" (voltages)
    m_elevatorSim.setInput(maxSim.getAppliedOutput() * RobotController.getBatteryVoltage());

    // Next, we update it. The standard loop time is 20ms.
    m_elevatorSim.update(0.020);

    // Now, we update the Spark Flex
    flexSim.iterate(
        Units.radiansPerSecondToRotationsPerMinute( // motor velocity, in RPM
            m_elevatorSim.getVelocityRadPerSec()),
        RobotController.getBatteryVoltage(), // Simulated battery voltage, in Volts
        0.02); // Time interval, in Seconds
}

[amorygalili]

Arm sim example: https://github.com/wpilibsuite/allwpilib/blob/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java