[sim] Add sim wrappers for sensors that use SimDevice (#3517)

wpilibc/src/test/native/cpp/simulation/ADXL362SimTest.cpp

@@ -0,0 +1,38 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/simulation/ADXL362Sim.h"  // NOLINT(build/include_order)
+
+#include <hal/HAL.h>
+
+#include "frc/ADXL362.h"
+#include "gtest/gtest.h"
+
+namespace frc::sim {
+
+TEST(ADXL362SimTests, SetAttributes) {
+  HAL_Initialize(500, 0);
+
+  ADXL362 accel(SPI::kMXP, Accelerometer::kRange_2G);
+  ADXL362Sim sim(accel);
+
+  EXPECT_EQ(0, accel.GetX());
+  EXPECT_EQ(0, accel.GetY());
+  EXPECT_EQ(0, accel.GetZ());
+
+  sim.SetX(1.91);
+  sim.SetY(-3.405);
+  sim.SetZ(2.29);
+
+  EXPECT_EQ(1.91, accel.GetX());
+  EXPECT_EQ(-3.405, accel.GetY());
+  EXPECT_EQ(2.29, accel.GetZ());
+
+  ADXL362::AllAxes allAccel = accel.GetAccelerations();
+  EXPECT_EQ(1.91, allAccel.XAxis);
+  EXPECT_EQ(-3.405, allAccel.YAxis);
+  EXPECT_EQ(2.29, allAccel.ZAxis);
+}
+
+}  // namespace frc::sim