Package jsim.wpilib

Class SimulatedField.Builder

java.lang.Object

jsim.wpilib.SimulatedField.Builder

Enclosing class:

SimulatedField

public static final class SimulatedField.Builder
extends Object

Builder for SimulatedField that allows customizing robot body dimensions, mass, and intake geometry. All fields default to the same values used by the simple constructor.

Method Summary

Modifier and Type	Method	Description
SimulatedField	build(Supplier<edu.wpi.first.math.kinematics.ChassisSpeeds> speedsSupplier, Supplier<edu.wpi.first.math.geometry.Pose2d> poseSupplier)	Build the SimulatedField subsystem.
SimulatedField.Builder	withEjectSpeed(double xyMetersPerSec, double zMetersPerSec)	Override the eject velocity.
SimulatedField.Builder	withIntake(double forwardMeters, double heightMeters, double radiusMeters)	Override the intake geometry.
SimulatedField.Builder	withRobotMass(double massKg)	Override the robot mass.
SimulatedField.Builder	withRobotSize(double halfXMeters, double halfYMeters, double halfZMeters)	Override the robot chassis half-extents (metres).

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

withRobotSize

public SimulatedField.Builder withRobotSize(double halfXMeters,
 double halfYMeters,
 double halfZMeters)

Override the robot chassis half-extents (metres).

Parameters:

halfXMeters - half-length along X (forward/back)

halfYMeters - half-width along Y (left/right)

halfZMeters - half-height along Z

Returns:

this builder

withRobotMass

public SimulatedField.Builder withRobotMass(double massKg)

Override the robot mass.

Parameters:

massKg - total robot mass in kilograms

Returns:

this builder

withIntake

public SimulatedField.Builder withIntake(double forwardMeters,
 double heightMeters,
 double radiusMeters)

Override the intake geometry.

Parameters:

forwardMeters - distance from robot centre to intake point along the robot's X axis

heightMeters - height of the intake point above the carpet

radiusMeters - grab radius — any free piece within this distance is grabbable

Returns:

this builder

withEjectSpeed

public SimulatedField.Builder withEjectSpeed(double xyMetersPerSec,
 double zMetersPerSec)

Override the eject velocity.

Parameters:

xyMetersPerSec - forward speed in the robot's heading direction

zMetersPerSec - upward loft speed

Returns:

this builder

build

public SimulatedField build(Supplier<edu.wpi.first.math.kinematics.ChassisSpeeds> speedsSupplier,
 Supplier<edu.wpi.first.math.geometry.Pose2d> poseSupplier)

Build the SimulatedField subsystem.

Parameters:

speedsSupplier - supplier of robot-relative chassis speeds

poseSupplier - supplier of the current robot pose

Returns:

a new SimulatedField registered with the CommandScheduler