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Simulation (PhysicsSim)

Ironclad registers devices with CTRE’s PhysicsSim during simulation to get realistic responses.

if (Robot.isSimulation()) {
  PhysicsSim.getInstance().addTalon(fx, DCMotor.getKrakenX60(1));
}

Notes

  • Use realistic motor models (KrakenX60, Falcon500) and gearing
  • Consider setting alternate gains for sim if needed