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[wpilib] Add DutyCycleEncoderSim (#2798)

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This commit is contained in:
Tyler Veness
2020-10-23 20:18:49 -07:00
committed by GitHub
parent 4422904a2e
commit 1069019fd2
6 changed files with 158 additions and 0 deletions
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7
wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
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@@ -58,6 +58,8 @@ void DutyCycleEncoder::Init() {
if (m_simDevice) {
m_simPosition = m_simDevice.CreateDouble("Position", false, 0.0);
m_simDistancePerRotation =
m_simDevice.CreateDouble("DistancePerRotation", false, 1.0);
m_simIsConnected = m_simDevice.CreateBoolean("Connected", false, true);
} else {
m_analogTrigger = std::make_unique<AnalogTrigger>(m_dutyCycle.get());
@@ -98,6 +100,7 @@ units::turn_t DutyCycleEncoder::Get() const {
void DutyCycleEncoder::SetDistancePerRotation(double distancePerRotation) {
m_distancePerRotation = distancePerRotation;
m_simDistancePerRotation.Set(distancePerRotation);
}
double DutyCycleEncoder::GetDistancePerRotation() const {
@@ -129,6 +132,10 @@ void DutyCycleEncoder::SetConnectedFrequencyThreshold(int frequency) {
m_frequencyThreshold = frequency;
}
int DutyCycleEncoder::GetSourceChannel() const {
return m_dutyCycle->GetSourceChannel();
}
void DutyCycleEncoder::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("AbsoluteEncoder");
builder.AddDoubleProperty(

33
wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp Normal file
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@@ -0,0 +1,33 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "frc/simulation/DutyCycleEncoderSim.h"
#include <wpi/SmallString.h>
#include <wpi/raw_ostream.h>
#include "frc/DutyCycleEncoder.h"
#include "frc/simulation/SimDeviceSim.h"
using namespace frc::sim;
DutyCycleEncoderSim::DutyCycleEncoderSim(const frc::DutyCycleEncoder& encoder) {
wpi::SmallString<128> fullname;
wpi::raw_svector_ostream os(fullname);
os << "DutyCycleEncoder" << '[' << encoder.GetSourceChannel() << ']';
frc::sim::SimDeviceSim deviceSim{fullname.c_str()};
m_simPosition = deviceSim.GetDouble("Position");
m_simDistancePerRotation = deviceSim.GetDouble("DistancePerRotation");
}
void DutyCycleEncoderSim::Set(units::turn_t turns) {
m_simPosition.Set(turns.to<double>());
}
void DutyCycleEncoderSim::SetDistance(double distance) {
m_simPosition.Set(distance / m_simDistancePerRotation.Get());
}