FEAT: somewhat realistic voltage friction sim

dabeycorn · dabeycorn · commit 44d8cb412600 · 2025-05-25T17:20:25.000-07:00
diff --git a/src/main/java/wmironpatriots/subsystems/Swerve/module/ModuleHardwareSim.java b/src/main/java/wmironpatriots/subsystems/Swerve/module/ModuleHardwareSim.java
@@ -94,13 +94,13 @@ private double getDriveSpeedMps() {
 
   @Override
   public void setPivotAppliedVolts(double volts) {
-    pivotAppliedVolts = MathUtil.clamp(volts, -12.0, 12.0);
+    pivotAppliedVolts = addFriction(MathUtil.clamp(volts, -12.0, 12.0), 0.25);
     pivotSim.setInputVoltage(pivotAppliedVolts);
   }
 
   @Override
   public void setDriveAppliedVolts(double volts) {
-    driveAppliedVolts = MathUtil.clamp(volts, -12.0, 12.0);
+    driveAppliedVolts = addFriction(MathUtil.clamp(volts, -12.0, 12.0), 0.25);
     driveSim.setInputVoltage(driveAppliedVolts);
   }
 

Original file line number	Diff line number	Diff line change
`@@ -94,13 +94,13 @@ private double getDriveSpeedMps() {`
`94`	`94`
`95`	`95`	`@Override`
`96`	`96`	`public void setPivotAppliedVolts(double volts) {`
`97`		`- pivotAppliedVolts = MathUtil.clamp(volts, -12.0, 12.0);`
	`97`	`+ pivotAppliedVolts = addFriction(MathUtil.clamp(volts, -12.0, 12.0), 0.25);`
`98`	`98`	`pivotSim.setInputVoltage(pivotAppliedVolts);`
`99`	`99`	`}`
`100`	`100`
`101`	`101`	`@Override`
`102`	`102`	`public void setDriveAppliedVolts(double volts) {`
`103`		`- driveAppliedVolts = MathUtil.clamp(volts, -12.0, 12.0);`
	`103`	`+ driveAppliedVolts = addFriction(MathUtil.clamp(volts, -12.0, 12.0), 0.25);`
`104`	`104`	`driveSim.setInputVoltage(driveAppliedVolts);`
`105`	`105`	`}`
`106`	`106`