mirror of
https://github.com/wpilibsuite/allwpilib
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46 lines
1.5 KiB
C++
46 lines
1.5 KiB
C++
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "AnalogGyroGui.h"
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#include <cstdio>
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#include <hal/Ports.h>
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#include <hal/Value.h>
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#include <imgui.h>
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#include <mockdata/AnalogGyroData.h>
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#include "SimDeviceGui.h"
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using namespace halsimgui;
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static void DisplayAnalogGyros() {
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static int numAccum = HAL_GetNumAccumulators();
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for (int i = 0; i < numAccum; ++i) {
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if (!HALSIM_GetAnalogGyroInitialized(i)) continue;
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char name[32];
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std::snprintf(name, sizeof(name), "AnalogGyro[%d]", i);
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if (SimDeviceGui::StartDevice(name)) {
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HAL_Value value;
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// angle
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value = HAL_MakeDouble(HALSIM_GetAnalogGyroAngle(i));
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if (SimDeviceGui::DisplayValue("Angle", false, &value))
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HALSIM_SetAnalogGyroAngle(i, value.data.v_double);
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// rate
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value = HAL_MakeDouble(HALSIM_GetAnalogGyroRate(i));
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if (SimDeviceGui::DisplayValue("Rate", false, &value))
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HALSIM_SetAnalogGyroRate(i, value.data.v_double);
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SimDeviceGui::FinishDevice();
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}
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}
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}
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void AnalogGyroGui::Initialize() { SimDeviceGui::Add(DisplayAnalogGyros); }
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