Rev flex update (#47)

* Make it possible to sim rev flex * Make more generic * Fix bazel
snobotsim · Feb 22, 2024 · 18e0884 · 18e0884
1 parent 560d55d
commit 18e0884
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Showing 5 changed files with 47 additions and 6 deletions.
diff --git a/..._sim_java_revlib/src/main/java/org/snobotv2/module_wrappers/rev/RevEncoderSimWrapper.java b/..._sim_java_revlib/src/main/java/org/snobotv2/module_wrappers/rev/RevEncoderSimWrapper.java
@@ -1,13 +1,13 @@
 package org.snobotv2.module_wrappers.rev;
 
-import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkBase;
 import edu.wpi.first.hal.SimDouble;
 import edu.wpi.first.wpilibj.simulation.SimDeviceSim;
 import org.snobotv2.module_wrappers.BaseEncoderWrapper;
 
 public final class RevEncoderSimWrapper extends BaseEncoderWrapper
 {
-    public static RevEncoderSimWrapper create(CANSparkMax motorController)
+    public static RevEncoderSimWrapper create(CANSparkBase motorController)
     {
         SimDeviceSim deviceSim = new SimDeviceSim("SPARK MAX [" + motorController.getDeviceId() + "]");
         SimDouble position = deviceSim.getDouble("Position");

diff --git a/...a_revlib/src/main/java/org/snobotv2/module_wrappers/rev/RevMotorControllerSimWrapper.java b/...a_revlib/src/main/java/org/snobotv2/module_wrappers/rev/RevMotorControllerSimWrapper.java
@@ -1,5 +1,6 @@
 package org.snobotv2.module_wrappers.rev;
 
+import com.revrobotics.CANSparkBase;
 import com.revrobotics.SimableRevDevice;
 import edu.wpi.first.hal.SimDouble;
 import edu.wpi.first.wpilibj.RobotController;
@@ -12,15 +13,19 @@ public class RevMotorControllerSimWrapper extends BaseMotorControllerWrapper
     private final SimDouble mBusVoltage;
     private final SimDouble mMotorCurrent;
 
-    public RevMotorControllerSimWrapper(SimableRevDevice motorController)
+    public RevMotorControllerSimWrapper(CANSparkBase motorController)
     {
         super(motorController.getDeviceId(), motorController::getAppliedOutput);
+        if (!(motorController instanceof SimableRevDevice))
+        {
+            throw new IllegalArgumentException("The provided motor controller is not simmable!");
+        }
 
         SimDeviceSim deviceSim = new SimDeviceSim("SPARK MAX [" + motorController.getDeviceId() + "]");
         mBusVoltage = deviceSim.getDouble("Bus Voltage");
         mMotorCurrent = deviceSim.getDouble("Motor Current");
 
-        mMotorController = motorController;
+        mMotorController = (SimableRevDevice) motorController;
     }
 
     @Override

diff --git a/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/BUILD.bazel b/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/BUILD.bazel
@@ -5,6 +5,7 @@ snobot_sim_java_test(
     srcs = glob(["*.java"]),
     deps = [
         "//examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems",
+        "//snobot_sim_java_base/src/main/java/org/snobotv2/sim_wrappers",
         "//snobot_sim_java_revlib/src/main/java/com/revrobotics:simmable_rev",
         "//snobot_sim_java_revlib/src/main/java/org/snobotv2/module_wrappers/rev",
         "//snobot_sim_java_test_utils/src/main/java/org/snobotv2/test_utils",

diff --git a/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevCanSpark.java b/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevCanSpark.java
@@ -27,10 +27,10 @@ public void testBasicMax()
     @Test
     public void testBasicFlex()
     {
-        try (SimableCANSparkFlex sparkMax = new SimableCANSparkFlex(1, CANSparkLowLevel.MotorType.kBrushless);
+        try (SimableCANSparkFlex sparkFlex = new SimableCANSparkFlex(1, CANSparkLowLevel.MotorType.kBrushless);
              SimableCANSparkFlex follower = new SimableCANSparkFlex(11, CANSparkLowLevel.MotorType.kBrushless))
         {
-            runTest(sparkMax, follower);
+            runTest(sparkFlex, follower);
         }
     }
 

diff --git a/...ot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevFlexEncoder.java b/...ot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevFlexEncoder.java
@@ -0,0 +1,35 @@
+package org.snobotv2.module_wrappers.rev;
+
+import com.revrobotics.CANSparkLowLevel;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.SimableCANSparkFlex;
+import org.junit.jupiter.api.Test;
+import org.snobotv2.sim_wrappers.InstantaneousMotorSim;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+public class TestRevFlexEncoder
+{
+    @Test
+    public void testEncoder()
+    {
+        try (SimableCANSparkFlex sparkFlex = new SimableCANSparkFlex(1, CANSparkLowLevel.MotorType.kBrushless))
+        {
+            RelativeEncoder encoder = sparkFlex.getEncoder();
+
+            InstantaneousMotorSim motorSim = new InstantaneousMotorSim(
+                    new RevMotorControllerSimWrapper(sparkFlex),
+                    RevEncoderSimWrapper.create(sparkFlex),
+                    10);
+
+            for (int i = 0; i < 100; ++i)
+            {
+                sparkFlex.set(0.5);
+                motorSim.update();
+            }
+
+            assertEquals(10, encoder.getPosition(), 0.001);
+            assertEquals(5, encoder.getVelocity(), 0.001);
+        }
+    }
+}