Fix flex sim

snobotsim · Feb 25, 2024 · bb12771 · bb12771
1 parent 18e0884
commit bb12771
Showing 1 changed file with 20 additions and 0 deletions.
diff --git a/snobot_sim_java_revlib/src/main/java/com/revrobotics/SimableCANSparkFlex.java b/snobot_sim_java_revlib/src/main/java/com/revrobotics/SimableCANSparkFlex.java
@@ -43,6 +43,17 @@ public REVLibError follow(final CANSparkBase leader)
         return mSimHelper.follow(leader);
     }
 
+    @Override
+    public SparkPIDController getPIDController()
+    {
+        if (RobotBase.isReal())
+        {
+            return super.getPIDController();
+        }
+
+        return mSimHelper.getPIDController();
+    }
+
     @Override
     /* default */ REVLibError setpointCommand(double value, ControlType ctrl, int pidSlot, double arbFeedforward, int arbFFUnits)
     {
@@ -53,4 +64,13 @@ public REVLibError follow(final CANSparkBase leader)
 
         return mSimHelper.setpointCommand(value, ctrl, pidSlot, arbFeedforward, arbFFUnits);
     }
+
+    @Override
+    public RelativeEncoder getEncoder(SparkRelativeEncoder.Type encoderType, int countsPerRev)
+    {
+        return mSimHelper.setLatchedEncoder(super.getEncoder(encoderType, countsPerRev));
+    }
+
+    //////////////////////////////////////////////////
+
 }