Simulation Changes

[CoolSpy3]

Some simulation changes I was working on before I left the team. I'm opening this PR so that they don't get lost.

Probably related to DeepBlueRobotics/DeepBlueSim#46.

[brettle]

@CoolSpy3 please mark this as ready for review if you think it's now good to go. I'd like to get it integrated relatively soon.

[CoolSpy3]

Alright, I went back through the changes and made some notes. After those are fixed, I think this should be good to merge, but keep in mind that this updates everything to use the naming semantics from DeepBlueRobotics/DeepBlueSim#46 , so the changes may not be fully compatible with the current simulator.

As a side note, I think that that version of the simulator also takes care of gearing, so the getGearing/setGearing methods in MockedCANCoder can probably be deleted.

Do you want me to work on this? They aren't too complex, but I'm fairly busy this week, so they probably wouldn't get done until sometime next week.

[brettle]

keep in mind that this updates everything to use the naming semantics from DeepBlueRobotics/DeepBlueSim#46 , so the changes may not be fully compatible with the current simulator.

👍

As a side note, I think that that version of the simulator also takes care of gearing, so the getGearing/setGearing methods in MockedCANCoder can probably be deleted.

👍

Do you want me to work on this?

I'll work on it but would appreciate your review or input as you have time. (Academics still come first. 😄).

[brettle]

Done. Let me know if you see anything else. Otherwise mark as ready for review. No rush.

[CoolSpy3]

Looks good! The one thing I notice is that spark max following of phoenix controllers has a code block, but is left unimplemented. However, given that that is a rare use case, we haven't investigated the relevant following semantics, and the code will print an error, I'm fine to leave that as unsupported for now.