Add Simulation class

src/main/java/com/team2813/Constants.java

@@ -20,9 +20,6 @@
  * on a roboRIO.
  */
 public final class Constants {
-  public static double SIM_TIME_PERIOD =
-      0.02; // Update physics simulations every 20ms (like the actual bot).
-
   public static final Transform3d FRONT_CAMERA_POSITION =
       new Transform3d(
           new Translation3d(Meters.of(-0.054564), Meters.of(0), Meters.of(0.501754)),

src/main/java/com/team2813/subsystems/Simulation.java

@@ -0,0 +1,26 @@
+package com.team2813.subsystems;
+
+import static edu.wpi.first.units.Units.Volts;
+
+import edu.wpi.first.units.measure.Voltage;
+import edu.wpi.first.wpilibj.RobotController;
+import org.littletonrobotics.junction.LoggedRobot;
+
+/** Utilities for working in simulation. */
+public class Simulation {
+  /**
+   * The time period to use in simulation.
+   *
+   * <p>Currently set to the same time period as we use in the actual robot.
+   */
+  public static final double TIME_PERIOD = LoggedRobot.defaultPeriodSecs;
+
+  /** Gets the voltage to apply to simulated motors. */
+  public static Voltage getMotorSupplyVoltage() {
+    return Volts.of(RobotController.getBatteryVoltage());
+  }
+
+  private Simulation() {
+    throw new AssertionError("Not instantiable");
+  }
+}

src/main/java/com/team2813/subsystems/drive/ModuleIOSim.java

@@ -7,9 +7,12 @@
 
 package com.team2813.subsystems.drive;
 
+import static edu.wpi.first.units.Units.Volts;
+
 import com.ctre.phoenix6.configs.CANcoderConfiguration;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.swerve.SwerveModuleConstants;
+import com.team2813.subsystems.Simulation;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -83,8 +86,9 @@ public void updateInputs(ModuleIOInputs inputs) {
     }
 
     // Update simulation state
-    driveSim.setInputVoltage(MathUtil.clamp(driveAppliedVolts, -12.0, 12.0));
-    turnSim.setInputVoltage(MathUtil.clamp(turnAppliedVolts, -12.0, 12.0));
+    double supplyVoltage = Simulation.getMotorSupplyVoltage().in(Volts);
+    driveSim.setInputVoltage(MathUtil.clamp(driveAppliedVolts, -supplyVoltage, supplyVoltage));
+    turnSim.setInputVoltage(MathUtil.clamp(turnAppliedVolts, -supplyVoltage, supplyVoltage));
     driveSim.update(0.02);
     turnSim.update(0.02);
 

src/main/java/com/team2813/subsystems/hopper/HopperIOSim.java

@@ -5,6 +5,7 @@
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.sim.TalonFXSimState;
 import com.team2813.Constants;
+import com.team2813.subsystems.Simulation;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.system.plant.LinearSystemId;
 import edu.wpi.first.units.measure.Voltage;
@@ -56,9 +57,10 @@ public HopperIOSim() {
   public void updateState(HopperIOInputs inputs) {
     updateSimulation();
 
-    mainRollerMotorSimState.setSupplyVoltage(Volts.of(12));
-    followerRollerMotorSimState.setSupplyVoltage(Volts.of(12));
-    feederMotorSimState.setSupplyVoltage(Volts.of(12));
+    Voltage supplyVoltage = Simulation.getMotorSupplyVoltage();
+    mainRollerMotorSimState.setSupplyVoltage(supplyVoltage);
+    followerRollerMotorSimState.setSupplyVoltage(supplyVoltage);
+    feederMotorSimState.setSupplyVoltage(supplyVoltage);
 
     inputs.mainRollerMotorVoltage = mainRollerMotor.getMotorVoltage().getValue();
     inputs.mainRollerMotorRPS = mainRollerMotor.getRotorVelocity().getValue();
@@ -73,8 +75,8 @@ public void updateState(HopperIOInputs inputs) {
     inputs.feederCurrent = feederMotor.getStatorCurrent().getValue();
   }
 
-  public void updateSimulation() {
-    rollerSim.update(Constants.SIM_TIME_PERIOD);
+  private void updateSimulation() {
+    rollerSim.update(Simulation.TIME_PERIOD);
 
     // Feed the velocity and acceleration of the roller simulation into the simulation motors to
     // accurately model them.

src/main/java/com/team2813/subsystems/intakeextension/IntakeExtensionIOSim.java

@@ -6,6 +6,7 @@
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.sim.TalonFXSimState;
 import com.team2813.Constants;
+import com.team2813.subsystems.Simulation;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.system.plant.DCMotor;
@@ -59,7 +60,7 @@ public IntakeExtensionIOSim() {
   @Override
   public void updateState(IntakeExtensionIOInputs inputs) {
     // Continue supplying the simulated motor with 12V voltage.
-    extenderMotorSimState.setSupplyVoltage(12);
+    extenderMotorSimState.setSupplyVoltage(Simulation.getMotorSupplyVoltage());
 
     // TalonFX simulation doesn't run the internal PID controller, so we simulate it ourselves
     // using a WPILib PIDController with the same gains.

src/main/java/com/team2813/subsystems/intakeroller/IntakeRollerIOSim.java

@@ -5,6 +5,7 @@
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.sim.TalonFXSimState;
 import com.team2813.Constants;
+import com.team2813.subsystems.Simulation;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.system.plant.LinearSystemId;
 import edu.wpi.first.units.measure.Voltage;
@@ -35,14 +36,14 @@ public IntakeRollerIOSim() {
   public void updateState(IntakeRollerIOInputs inputs) {
     updateSimulation();
 
-    intakeSimState.setSupplyVoltage(Volts.of(12));
+    intakeSimState.setSupplyVoltage(Simulation.getMotorSupplyVoltage());
 
     inputs.intakeMotorVoltage = intakeMotor.getMotorVoltage().getValue();
     inputs.intakeMotorRPS = intakeMotor.getVelocity().getValue();
     inputs.intakeMotorCurrent = intakeMotor.getStatorCurrent().getValue();
   }
 
-  public void updateSimulation() {
+  private void updateSimulation() {
     // TODO: Once we fetch from main, change this to the SIM_TIME in Constants.
     intakeFlywheelSim.update(0.02);
 

src/main/java/com/team2813/subsystems/kicker/KickerIOSim.java

@@ -6,6 +6,7 @@
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.sim.TalonFXSimState;
 import com.team2813.Constants;
+import com.team2813.subsystems.Simulation;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.system.plant.LinearSystemId;
 import edu.wpi.first.units.measure.Voltage;
@@ -44,12 +45,12 @@ public void updateState(KickerIOInputs inputs) {
   }
 
   private void updateSimulation() {
-    flywheelSim.update(Constants.SIM_TIME_PERIOD);
+    flywheelSim.update(Simulation.TIME_PERIOD);
 
     TalonFXSimState simState = motor.getSimState();
     simState.setRotorAcceleration(flywheelSim.getAngularAcceleration());
     simState.setRotorVelocity(flywheelSim.getAngularVelocity());
-    simState.setSupplyVoltage(Volts.of(12));
+    simState.setSupplyVoltage(Simulation.getMotorSupplyVoltage());
   }
 
   @Override

src/main/java/com/team2813/subsystems/shooter/ShooterIOSim.java

@@ -6,6 +6,7 @@
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.sim.TalonFXSimState;
 import com.team2813.Constants;
+import com.team2813.subsystems.Simulation;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.system.plant.LinearSystemId;
 import edu.wpi.first.units.measure.AngularVelocity;
@@ -49,8 +50,9 @@ public ShooterIOSim() {
   public void updateState(ShooterIOInputs inputs) {
     updateSimulation();
 
-    mainShooterSimState.setSupplyVoltage(Volts.of(12));
-    followerShooterSimState.setSupplyVoltage(Volts.of(12));
+    Voltage supplyVoltage = Simulation.getMotorSupplyVoltage();
+    mainShooterSimState.setSupplyVoltage(supplyVoltage);
+    followerShooterSimState.setSupplyVoltage(supplyVoltage);
 
     inputs.mainShooterMotorVoltageVolts = mainShooterMotor.getMotorVoltage().getValue().in(Volts);
     inputs.mainShooterMotorAngleRotations = mainShooterMotor.getPosition().getValue().in(Rotations);
@@ -67,9 +69,9 @@ public void updateState(ShooterIOInputs inputs) {
         followerShooterMotor.getStatorCurrent().getValue().in(Amps);
   }
 
-  public void updateSimulation() {
+  private void updateSimulation() {
     // Update physics simulations every 20ms (like the actual bot).
-    shooterSim.update(Constants.SIM_TIME_PERIOD);
+    shooterSim.update(Simulation.TIME_PERIOD);
 
     // Feed the velocity and acceleration of the roller simulation into the simulation motors to
     // accurately model them.