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29 changes: 29 additions & 0 deletions
29
src/main/java/frc/robot/subsystems/indexer/IndexerIOSim.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,29 @@ | ||
| package frc.robot.subsystems.indexer; | ||
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| import edu.wpi.first.wpilibj.DigitalInput; | ||
| import frc.robot.Constants; | ||
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| /** | ||
| * Intake IO Layer with real motors and sensors | ||
| */ | ||
| public class IndexerIOSim implements IndexerIO { | ||
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| private final DigitalInput indexerBeamBrake = | ||
| new DigitalInput(Constants.IntakeConstants.INDEXER_BEAM_BRAKE_DIO_PORT); | ||
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| /** | ||
| * Intake IO Layer with real motors and sensors | ||
| */ | ||
| public IndexerIOSim() { | ||
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| } | ||
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| @Override | ||
| public void updateInputs(IndexerInputs inputs) { | ||
| inputs.indexerBeamBrake = !indexerBeamBrake.get(); // true == game piece | ||
| inputs.indexerRPM = 0; | ||
| } | ||
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| @Override | ||
| public void setIndexerMotorPercentage(double percent) {} | ||
| } |
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26 changes: 26 additions & 0 deletions
26
src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,26 @@ | ||
| package frc.robot.subsystems.intake; | ||
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| import edu.wpi.first.wpilibj.DigitalInput; | ||
| import frc.robot.Constants; | ||
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| /** | ||
| * Intake IO Layer with real motors and sensors | ||
| */ | ||
| public class IntakeIOSim implements IntakeIO { | ||
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| private final DigitalInput intakeBeamBrake = | ||
| new DigitalInput(Constants.IntakeConstants.INTAKE_BEAM_BRAKE_DIO_PORT); | ||
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| /** | ||
| * Intake IO Layer with real motors and sensors | ||
| */ | ||
| public IntakeIOSim() {} | ||
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| @Override | ||
| public void updateInputs(IntakeInputs inputs) { | ||
| inputs.intakeBeamBrake = !intakeBeamBrake.get(); // true == game piece | ||
| } | ||
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| @Override | ||
| public void setIntakeMotorPercentage(double percent) {} | ||
| } |