SparkRelativeEncoderSims

Author: StarbuckBarista

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

@@ -3,6 +3,7 @@
 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;
@@ -13,6 +14,10 @@
 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(
@@ -28,6 +33,14 @@ public class ElevatorIOSim extends ElevatorIOVortex {
 
     private final Random random = new Random();
 
+    public ElevatorIOSim () {
+
+        super();
+
+        this.leadEncoder.setPosition(super.leadEncoder.getPosition());
+        this.followerEncoder.setPosition(super.followerEncoder.getPosition());
+    }
+
     @Override
     public void updateInputs(ElevatorIOInputs inputs) {
 

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

@@ -4,6 +4,7 @@
 
 import com.revrobotics.spark.SparkBase.PersistMode;
 import com.revrobotics.spark.SparkBase.ResetMode;
+import com.revrobotics.RelativeEncoder;
 import com.revrobotics.spark.SparkFlex;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 import com.revrobotics.spark.config.SparkFlexConfig;
@@ -15,7 +16,10 @@ public class ElevatorIOVortex implements ElevatorIO {
     private final LoggedNetworkBoolean manual = new LoggedNetworkBoolean("Manual Elevator", false);
 
     protected final SparkFlex leadMotor = new SparkFlex(ElevatorConstants.LEADER_CAN, MotorType.kBrushless);
-    private final SparkFlex followerMotor = new SparkFlex(ElevatorConstants.FOLLOWER_CAN, MotorType.kBrushless);
+    protected final SparkFlex followerMotor = new SparkFlex(ElevatorConstants.FOLLOWER_CAN, MotorType.kBrushless);
+    
+    protected final RelativeEncoder leadEncoder = this.leadMotor.getEncoder();
+    protected final RelativeEncoder followerEncoder = this.followerMotor.getEncoder();
 
     protected final LaserCanWrapper laserCan = new LaserCanWrapper(ElevatorConstants.LASER_CAN);
 

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

@@ -2,6 +2,7 @@
 
 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;
@@ -18,6 +19,10 @@ 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(
@@ -53,6 +58,15 @@ public class EndEffectorIOSim extends EndEffectorIOVortex {
         Units.degreesToRadians(90.0)
     );
 
+    public EndEffectorIOSim () {
+
+        super();
+
+        this.coralIntakeEncoder.setPosition(super.coralIntakeEncoder.getPosition());
+        this.algaeIntakeEncoder.setPosition(super.algaeIntakeEncoder.getPosition());
+        this.algaeWristEncoder.setPosition(super.algaeWristEncoder.getPosition());
+    }
+
     @Override
     public void updateInputs(EndEffectorIOInputs inputs) {
 

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

@@ -4,6 +4,7 @@
 
 import com.revrobotics.spark.SparkBase.PersistMode;
 import com.revrobotics.spark.SparkBase.ResetMode;
+import com.revrobotics.RelativeEncoder;
 import com.revrobotics.spark.SparkFlex;
 import com.revrobotics.spark.SparkLimitSwitch;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
@@ -18,6 +19,10 @@ public class EndEffectorIOVortex implements EndEffectorIO {
     protected final SparkFlex algaeIntakeMotor = new SparkFlex(EndEffectorConstants.ALGAE_INTAKE_CAN, MotorType.kBrushless);
     protected final SparkFlex algaeWristMotor = new SparkFlex(EndEffectorConstants.ALGAE_WRIST_CAN, MotorType.kBrushless);
 
+    protected final RelativeEncoder coralIntakeEncoder = this.coralIntakeMotor.getEncoder();
+    protected final RelativeEncoder algaeIntakeEncoder = this.algaeIntakeMotor.getEncoder();
+    protected final RelativeEncoder algaeWristEncoder = this.algaeWristMotor.getEncoder();
+
     private final SparkLimitSwitch coralBeambreak = coralIntakeMotor.getForwardLimitSwitch();
 
     public EndEffectorIOVortex () {

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

@@ -1,6 +1,7 @@
 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;
@@ -11,6 +12,7 @@
 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(
@@ -21,6 +23,13 @@ public class FunnelIOSim extends FunnelIOVortex {
         DCMotor.getNeoVortex(1)
     );
 
+    public FunnelIOSim () {
+
+        super();
+        
+        this.encoder.setPosition(super.encoder.getPosition());
+    }
+
     @Override
     public void updateInputs (FunnelIOInputsAutoLogged inputs) {
 

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

@@ -2,13 +2,15 @@
 
 import com.revrobotics.spark.SparkBase.PersistMode;
 import com.revrobotics.spark.SparkBase.ResetMode;
+import com.revrobotics.RelativeEncoder;
 import com.revrobotics.spark.SparkFlex;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 import com.revrobotics.spark.config.SparkFlexConfig;
 
 public class FunnelIOVortex implements FunnelIO {
 
     protected final SparkFlex motor = new SparkFlex(FunnelConstants.FUNNEL_CAN, MotorType.kBrushless);
+    protected final RelativeEncoder encoder = this.motor.getEncoder();
 
     public FunnelIOVortex () {
 

src/main/java/frc/robot/util/BuildConstants.java

@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "Reefscape2025";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 334;
-  public static final String GIT_SHA = "22b98747ede7c39096c463f5e3bf606ab8be986c";
-  public static final String GIT_DATE = "2025-05-29 04:52:43 CDT";
-  public static final String GIT_BRANCH = "only_simulation";
-  public static final String BUILD_DATE = "2025-05-29 05:24:24 CDT";
-  public static final long BUILD_UNIX_TIME = 1748514264943L;
+  public static final int GIT_REVISION = 335;
+  public static final String GIT_SHA = "91697717636e46c4344ce62e0bcf68fc2d0420e4";
+  public static final String GIT_DATE = "2025-05-29 05:30:37 CDT";
+  public static final String GIT_BRANCH = "simulation";
+  public static final String BUILD_DATE = "2025-07-16 12:01:56 CDT";
+  public static final long BUILD_UNIX_TIME = 1752685316081L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}