Added setInput method to use simState only for TalonFX in simulatePeriodic methods (#33)

Author: CodingTimeYog

public/templates/arm-subsystem.java.hbs

@@ -171,7 +171,15 @@ 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.
    //armSim.setInput(dcMotor.getVoltage(dcMotor.getTorque(armSim.getCurrentDrawAmps()), armSim.getVelocityRadPerSec()));
+   // armSim.setInput(getVoltage());
+   // Sets input voltage based on whether it is talon fx or not
+   {{#if (or (eq motorControllerType 'TalonFX') (eq motorControllerType 'TalonFXS'))}}
+   // Use motor voltage for TalonFX simulation input
+   armSim.setInput(talonfx.getSimState().getMotorVoltage());
+   {{else}}
+   // Use getVoltage() for other controllers
    armSim.setInput(getVoltage());
+   {{/if}}
 
    // Update simulation by 20ms
    armSim.update(0.020);

public/templates/elevator-subsystem.java.hbs

@@ -170,7 +170,15 @@ 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(getVoltage());
+    // elevatorSim.setInput(getVoltage());
+
+    {{#if (or (eq motorControllerType 'TalonFX') (eq motorControllerType 'TalonFXS'))}}
+   // Use motor voltage for TalonFX simulation input
+   elevatorSim.setInput(motor.getSimState().getMotorVoltage());
+   {{else}}
+   // Use getVoltage() for other controllers
+   elevatorSim.setInput(getVoltage());
+   {{/if}}
 
     // Update simulation by 20ms
     elevatorSim.update(0.020);

public/templates/pivot-subsystem.java.hbs

@@ -178,7 +178,15 @@ 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(getVoltage());
+  // pivotSim.setInput(getVoltage());
+  // Set input voltage from motor controller to simulation
+   {{#if (or (eq motorControllerType 'TalonFX') (eq motorControllerType 'TalonFXS'))}}
+   // Use motor voltage for TalonFX simulation input
+   pivotSim.setInput(motor.getSimState().getMotorVoltage());
+   {{else}}
+   // Use getVoltage() for other controllers
+   pivotSim.setInput(getVoltage());
+   {{/if}}
 
   // Update simulation by 20ms
   pivotSim.update(0.020);