mirror of
https://github.com/wpilibsuite/allwpilib
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55 lines
1.3 KiB
C
55 lines
1.3 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2020 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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#pragma once
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#include <hal/SimDevice.h>
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#include <units/angle.h>
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#include <units/angular_velocity.h>
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#include "frc/geometry/Rotation2d.h"
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namespace frc {
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class ADXRS450_Gyro;
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namespace sim {
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/**
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* Class to control a simulated ADXRS450 gyroscope.
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*/
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class ADXRS450_GyroSim {
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public:
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/**
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* Constructs from a ADXRS450_Gyro object.
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*
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* @param gyro ADXRS450_Gyro to simulate
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*/
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explicit ADXRS450_GyroSim(const ADXRS450_Gyro& gyro);
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/**
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* Sets the angle.
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*
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* @param angle The angle (clockwise positive).
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*/
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void SetAngle(units::degree_t angle);
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/**
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* Sets the angular rate (clockwise positive).
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*
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* @param rate The angular rate.
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*/
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void SetRate(units::degrees_per_second_t rate);
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private:
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hal::SimDouble m_simAngle;
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hal::SimDouble m_simRate;
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};
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} // namespace sim
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} // namespace frc
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