`fakehardware`¶

org.horizon36596.simloop.fakehardware

Fake devices that implement the real FTC SDK interfaces. Your robot code resolves them from a FakeHardwareMap by the same config name it uses on the robot, and cannot tell the difference — which is why your code does not have to be modified to be tested.

What you use¶

Type	Stands in for	Notes
`FakeHardwareMap`	`HardwareMap`	Hand this to your `init()`. Register each fake under its config name.
`FakeMotor`	`DcMotorEx`	The big one: modes, encoders, power, velocity, current, direction.
`FakeExternalEncoder`	a separate encoder on a motor port	For a mechanism whose encoder is not on its own motor.
`FakeServo`	`Servo`	Positional. Honours `scaleRange` the way the SDK does.
`FakeCRServo`	`CRServo`	Continuous rotation. Starts stopped.
`FakeAnalogInput`	`AnalogInput`	A constant voltage source.
`FakeDigitalChannel`	`DigitalChannel`	Input or output, with the SDK's mode rules.
`FakeVoltageSensor`	`VoltageSensor`	Reports a constant 12.0 V.
`FakeI2cDeviceSynchSimple`	the I2C bus client inside a device driver	Bus config only — see below.
`FakeDevice`	—	The interface every fake implements: `update(deltaTime)`.
`AbstractFakeDevice`	—	Base class supplying the `HardwareDevice` boilerplate.

How it is used¶

FakeMotor slideMotor = new FakeMotor(2000.0, 8.0);   // max ticks/s, accel constant (1/s)
FakeHardwareMap hardwareMap = new FakeHardwareMap();
hardwareMap.register("slide", slideMotor);           // the name in YOUR robot configuration

// ... your robot code does hardwareMap.get(DcMotorEx.class, "slide") and never knows ...

hardwareMap.updateAll(deltaTime);                    // once per tick, from the scenario body

Units and frames¶

Motor position: encoder ticks. Velocity: ticks per second.
Motor power: unitless, [-1, 1].
Servo position: unitless, [0, 1], before scaleRange is applied.
Voltage: volts.
update(deltaTime): deltaTime in seconds, always the scenario's fixed tick.

Two things worth knowing¶

State changes only in update. Every getter is a pure read. That is what makes a tick reproducible: nothing moves because you looked at it.

Sim-only accessors are marked as such. Methods like FakeMotor.getPhysicalPositionTicks() and FakeCRServo.getPhysicalPower() report the simulation's truth rather than what the device would report — useful in a test, and they do not exist on real hardware, so never wire season code to one.

What this package will not do¶

It will not move anything. A fake on its own only remembers what it was told. The motion is in plant; a FakeMotor with no plant behind it reports a position that never changes.
No I2C peripherals. FakeI2cDeviceSynchSimple models the bus configuration a driver's constructor performs, so a driver can be built headless. Every read and write throws, on purpose: there is no peripheral behind the bus, and a fake returning plausible bytes would be worse than a loud failure. A device fake is expected to override the driver methods it uses so the bus is never reached.
No sensor fusion, no IMU, no distance sensors. Not modelled at all.
No USB, no Lynx module, no firmware behaviour. isArmed() is always false; the fakes are never attached to anything.

fakehardware¶