Set Position Through SparkFlexSim

Author: StarbuckBarista

src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java

@@ -3,7 +3,6 @@
 import java.util.Random;
 
 import com.revrobotics.sim.SparkFlexSim;
-import com.revrobotics.sim.SparkRelativeEncoderSim;
 
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.wpilibj.simulation.ElevatorSim;
@@ -14,10 +13,6 @@
 public class ElevatorIOSim extends ElevatorIOVortex {
 
     private final SparkFlexSim motor = new SparkFlexSim(super.leadMotor, DCMotor.getNeoVortex(2));
-
-    private final SparkRelativeEncoderSim leadEncoder = new SparkRelativeEncoderSim(super.leadMotor);
-    private final SparkRelativeEncoderSim followerEncoder = new SparkRelativeEncoderSim(super.followerMotor);
-
     private final LaserCanSim laserCan = super.laserCan.getSimulatedDevice();
 
     private final ElevatorSim elevator = new ElevatorSim(
@@ -36,9 +31,8 @@ public class ElevatorIOSim extends ElevatorIOVortex {
     public ElevatorIOSim () {
 
         super();
-
-        this.leadEncoder.setPosition(super.leadEncoder.getPosition());
-        this.followerEncoder.setPosition(super.followerEncoder.getPosition());
+        
+        this.motor.setPosition(super.leadEncoder.getPosition());
     }
 
     @Override

src/main/java/frc/robot/subsystems/end_effector/EndEffectorIOSim.java

@@ -2,7 +2,6 @@
 
 import com.revrobotics.sim.SparkFlexSim;
 import com.revrobotics.sim.SparkLimitSwitchSim;
-import com.revrobotics.sim.SparkRelativeEncoderSim;
 
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.system.plant.LinearSystemId;
@@ -19,10 +18,6 @@ public class EndEffectorIOSim extends EndEffectorIOVortex {
     private final SparkFlexSim algaeIntakeMotor = new SparkFlexSim(super.algaeIntakeMotor, DCMotor.getNeoVortex(1));
     private final SparkFlexSim algaeWristMotor = new SparkFlexSim(super.algaeWristMotor, DCMotor.getNeoVortex(1));
 
-    private final SparkRelativeEncoderSim coralIntakeEncoder = new SparkRelativeEncoderSim(super.coralIntakeMotor);
-    private final SparkRelativeEncoderSim algaeIntakeEncoder = new SparkRelativeEncoderSim(super.algaeIntakeMotor);
-    private final SparkRelativeEncoderSim algaeWristEncoder = new SparkRelativeEncoderSim(super.algaeWristMotor);
-
     private final SparkLimitSwitchSim coralBeambreak = this.coralIntakeMotor.getForwardLimitSwitchSim();
 
     private final FlywheelSim coralIntake = new FlywheelSim(
@@ -62,9 +57,9 @@ public EndEffectorIOSim () {
 
         super();
 
-        this.coralIntakeEncoder.setPosition(super.coralIntakeEncoder.getPosition());
-        this.algaeIntakeEncoder.setPosition(super.algaeIntakeEncoder.getPosition());
-        this.algaeWristEncoder.setPosition(super.algaeWristEncoder.getPosition());
+        this.coralIntakeMotor.setPosition(super.coralIntakeEncoder.getPosition());
+        this.algaeIntakeMotor.setPosition(super.algaeIntakeEncoder.getPosition());
+        this.algaeWristMotor.setPosition(super.algaeWristEncoder.getPosition());
     }
 
     @Override

src/main/java/frc/robot/subsystems/funnel/FunnelIOSim.java

@@ -1,7 +1,6 @@
 package frc.robot.subsystems.funnel;
 
 import com.revrobotics.sim.SparkFlexSim;
-import com.revrobotics.sim.SparkRelativeEncoderSim;
 
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.system.plant.LinearSystemId;
@@ -12,7 +11,6 @@
 public class FunnelIOSim extends FunnelIOVortex {
 
     private final SparkFlexSim motor = new SparkFlexSim(super.motor, DCMotor.getNeoVortex(1));
-    private final SparkRelativeEncoderSim encoder = new SparkRelativeEncoderSim(super.motor);
 
     private final FlywheelSim funnel = new FlywheelSim(
         LinearSystemId.createFlywheelSystem(
@@ -27,7 +25,7 @@ public FunnelIOSim () {
 
         super();
 
-        this.encoder.setPosition(super.encoder.getPosition());
+        this.motor.setPosition(super.encoder.getPosition());
     }
 
     @Override