SparkMaxRelativeEncoderSim and SparkMaxAbsoluteEncoderSim do not default Position and Velocity Conversion Factor to 1 (as documented)

[trindels]

Describe the bug
SparkMaxRelativeEncoderSim.iterate and SparkMaxAbsoluteEncoderSim.iterate do not work until you properly use setPositionConversionFactor(1) and setVelocityConversionFactor(1). Documentation indicates that 1 should be the default value. Currently, default value is 0.

To Reproduce
Steps to reproduce the behavior:

import rev
import wpilib
import wpimath.units
import wpimath.system.plant

def __init__(self):
    self.controller = wpilib.XboxController(1)
    self.motor = rev.SparkMax( 1, rev.SparkMax.MotorType.kBrushless )
    self.simMotor = rev.SparkMaxSim( self.motor, wpimath.system.plant.DCMotor.NEO(1) )

def periodic(self):
    self.motor.set( self.controller.getLeftX() )

def simulationPeriodic(self):
    maxRpm = wpimath.units.radiansToRotations( wpimath.system.plant.DCMotor.NEO(1).freespeed ) * wpimath.units.kSecondsPerMinute
    rpm = maxRpm * self.motor.get()
    self.simMotor.getRelativeEncoderSim().iterate( rpm, 0.02 )
    self.simMotor.getAbsoluteEncoderSim().iterate( rpm, 0.02 )

    print( self.simMotor.getRelativeEncoderSim().getPosition(), self.simMotor.getRelativeEncoderSim().getVelocity() )
    print( self.simMotor.getAbsoluteEncoderSim().getPosition(), self.simMotor.getAbsoluteEncoderSim().getVelocity() )

Expected behavior
Position and Velocity should properly be the output.
Position += Velocity * dt

Screenshots
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Desktop (please complete the following information if applicable):

• OS: Windows 11
• OS Language: English
• Project Information: VSCode, Python 3.13, Simulation Environment

roboRIO (please complete the following information if applicable):

• roboRIO 1 or 2?: N/A
• Image version: [Use the roboRIO imaging tool or the WPILib team number setter to determine the image version]

Additional context
Add any other context about the problem here.

[jfabellera]

Thanks for the report, this will be fixed in the next release.