Simulating TalonSRX Encoders in Python

Are there any examples of how to simulate an encoder attached to a TalonSRX in robotpy physics? I see the register callback methods, but I’m not sure how I should go about initializing the EncoderSim class. Or is there a different simulation class that I should be using? Thanks!

The TalonSRXSimCollection is what you want.

CTRE have some examples with simulation. I can’t remember whether we’ve translated those examples yet. BLOG: FRC 2021 Kickoff — Phoenix documentation