From bb12771d493343e09c92f73b6a8f0a2426c3c637 Mon Sep 17 00:00:00 2001
From: PJ Reiniger <pj.reiniger@gmail.com>
Date: Sun, 25 Feb 2024 12:17:18 -0500
Subject: [PATCH] Fix flex sim

---
 .../com/revrobotics/SimableCANSparkFlex.java  | 20 +++++++++++++++++++
 1 file changed, 20 insertions(+)

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
index 56f3c82..aaa0540 100644
--- 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));
+    }
+
+    //////////////////////////////////////////////////
+
 }