Fix swerve module sim - #89
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…onforms to new MockedEncoder.
… initialized to avoid race condition where where pidControllerImpl is not set when getRequestedSpeed() is called.
The drivePhysicsSim should do that properly based on the already possibly inverted Speed of the driveMotorSim.
The direction will already be inverted based on the motor sim's Speed being inverted.
…e CANCoder is mounted.
CoolSpy3
approved these changes
May 16, 2024
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These are fixes to make the
SwerveModuleSimclass work. It is used by RobotCode2024 to drive the robot in the wpi simulator. There are also some minor changes to help with debugging.