mirror of
https://github.com/wpilibsuite/allwpilib
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50 lines
1.2 KiB
C
50 lines
1.2 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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namespace frc {
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class DutyCycleEncoder;
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namespace sim {
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/**
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* Class to control a simulated duty cycle encoder.
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*/
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class DutyCycleEncoderSim {
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public:
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/**
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* Constructs from a DutyCycleEncoder object.
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*
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* @param dutyCycleEncoder DutyCycleEncoder to simulate
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*/
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explicit DutyCycleEncoderSim(const DutyCycleEncoder& encoder);
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/**
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* Set the position tin turns.
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*
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* @param turns The position.
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*/
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void Set(units::turn_t turns);
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/**
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* Set the position.
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*/
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void SetDistance(double distance);
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private:
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hal::SimDouble m_simPosition;
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hal::SimDouble m_simDistancePerRotation;
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};
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} // namespace sim
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} // namespace frc
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