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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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15
wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
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@@ -32,6 +32,7 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
protected SimDevice m_simDevice;
protected SimDouble m_simPosition;
protected SimDouble m_simDistancePerRotation;
protected SimBoolean m_simIsConnected;
/**
@@ -72,6 +73,7 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
if (m_simDevice != null) {
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_counter = new Counter();
@@ -140,6 +142,10 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
*/
public void setDistancePerRotation(double distancePerRotation) {
m_distancePerRotation = distancePerRotation;
if (m_simDistancePerRotation != null) {
m_simDistancePerRotation.set(distancePerRotation);
}
}
/**
@@ -230,6 +236,15 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
}
}
/**
* Get the channel of the source.
*
* @return the source channel
*/
public int getSourceChannel() {
return m_dutyCycle.getSourceChannel();
}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("AbsoluteEncoder");

46
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DutyCycleEncoderSim.java Normal file
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@@ -0,0 +1,46 @@
/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.wpilibj.DutyCycleEncoder;
/**
* Class to control a simulated duty cycle encoder.
*/
public class DutyCycleEncoderSim {
private final SimDouble m_simPosition;
private final SimDouble m_simDistancePerRotation;
/**
* Constructs from an DutyCycleEncoder object.
*
* @param encoder DutyCycleEncoder to simulate
*/
public DutyCycleEncoderSim(DutyCycleEncoder encoder) {
SimDeviceSim wrappedSimDevice = new SimDeviceSim("DutyCycleEncoder" + "[" + encoder.getSourceChannel() + "]");
m_simPosition = wrappedSimDevice.getDouble("Position");
m_simDistancePerRotation = wrappedSimDevice.getDouble("DistancePerRotation");
}
/**
* Set the position in turns.
*
* @param turns The position.
*/
public void set(double turns) {
m_simPosition.set(turns);
}
/**
* Set the position.
*/
public void setDistance(double distance) {
m_simPosition.set(distance / m_simDistancePerRotation.get());
}
}