Fixed sim

Author: thenetworkgrinch

public/templates/arm-subsystem.java.hbs

@@ -170,8 +170,9 @@ public class {{subsystemName}} extends SubsystemBase {
  public void simulationPeriodic() {
    // Set input voltage from motor controller to simulation
    // Note: This may need to be talonfx.getSimState().getMotorVoltage() as the input.
-   armSim.setInput(dcMotor.getVoltage(dcMotor.getTorque(armSim.getCurrentDrawAmps()), armSim.getVelocityRadPerSec()));
-   
+   //armSim.setInput(dcMotor.getVoltage(dcMotor.getTorque(armSim.getCurrentDrawAmps()), armSim.getVelocityRadPerSec()));
+   armSim.setInput(getVoltage());
+
    // Update simulation by 20ms
    armSim.update(0.020);
    RoboRioSim.setVInVoltage(BatterySim.calculateDefaultBatteryLoadedVoltage(armSim.getCurrentDrawAmps()));

public/templates/elevator-subsystem.java.hbs

@@ -169,7 +169,8 @@ public class {{subsystemName}} extends SubsystemBase {
 
     // Set input voltage from motor controller to simulation
     // Note: This may need to be talonfx.getSimState().getMotorVoltage() as the input
-    elevatorSim.setInput(dcMotor.getVoltage(dcMotor.getTorque(elevatorSim.getCurrentDrawAmps()), elevatorSim.getVelocityMetersPerSecond() * positionToRotations * 2 * Math.PI));
+    //elevatorSim.setInput(dcMotor.getVoltage(dcMotor.getTorque(elevatorSim.getCurrentDrawAmps()), elevatorSim.getVelocityMetersPerSecond() * positionToRotations * 2 * Math.PI));
+    elevatorSim.setInput(getVoltage());
 
     // Update simulation by 20ms
     elevatorSim.update(0.020);

public/templates/pivot-subsystem.java.hbs

@@ -177,8 +177,9 @@ public void periodic() {
 public void simulationPeriodic() {
   // Set input voltage from motor controller to simulation
   // Note: This may need to be talonfx.getSimState().getMotorVoltage() as the input
-  pivotSim.setInput(dcMotor.getVoltage(dcMotor.getTorque(pivotSim.getCurrentDrawAmps()), pivotSim.getVelocityRadPerSec()));
-  
+  //pivotSim.setInput(dcMotor.getVoltage(dcMotor.getTorque(pivotSim.getCurrentDrawAmps()), pivotSim.getVelocityRadPerSec()));
+  pivotSim.setInput(getVoltage());
+
   // Update simulation by 20ms
   pivotSim.update(0.020);
   RoboRioSim.setVInVoltage(BatterySim.calculateDefaultBatteryLoadedVoltage(pivotSim.getCurrentDrawAmps()));