[sim] Add WPILib-class-taking constructors (#2538)

When not direct mapped, make index constructors private and add factory
functions for channel and index.

Co-authored-by: GabrielDeml <gabrielddeml@gmail.com>

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2020 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.                                                               */
@@ -184,7 +184,16 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, Sendable, A
    *
    * @param volts The size of the deadband in volts
    */
-  void setDeadband(double volts) {
+  public void setDeadband(double volts) {
     AnalogGyroJNI.setAnalogGyroDeadband(m_gyroHandle, volts);
   }
+
+  /**
+   * Gets the analog input for the gyro.
+   *
+   * @return AnalogInput
+   */
+  public AnalogInput getAnalogInput() {
+    return m_analog;
+  }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2020 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.                                                               */
@@ -196,6 +196,15 @@ public class Compressor implements Sendable, AutoCloseable {
     CompressorJNI.clearAllPCMStickyFaults(m_module);
   }
 
+  /**
+   * Gets the module number (CAN ID).
+   *
+   * @return Module number
+   */
+  public int getModule() {
+    return m_module;
+  }
+
   @Override
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Compressor");

wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistributionPanel.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2014-2020 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.                                                               */
@@ -19,6 +19,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  */
 public class PowerDistributionPanel implements Sendable, AutoCloseable {
   private final int m_handle;
+  private final int m_module;
 
   /**
    * Constructor.
@@ -28,6 +29,7 @@ public class PowerDistributionPanel implements Sendable, AutoCloseable {
   public PowerDistributionPanel(int module) {
     SensorUtil.checkPDPModule(module);
     m_handle = PDPJNI.initializePDP(module);
+    m_module = module;
 
     HAL.report(tResourceType.kResourceType_PDP, module + 1);
     SendableRegistry.addLW(this, "PowerDistributionPanel", module);
@@ -117,6 +119,13 @@ public class PowerDistributionPanel implements Sendable, AutoCloseable {
     PDPJNI.clearPDPStickyFaults(m_handle);
   }
 
+  /**
+   * Gets module number (CAN ID).
+   */
+  public int getModule() {
+    return m_module;
+  }
+
   @Override
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("PowerDistributionPanel");

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AddressableLEDSim.java

@@ -10,14 +10,63 @@ package edu.wpi.first.wpilibj.simulation;
 import edu.wpi.first.hal.simulation.AddressableLEDDataJNI;
 import edu.wpi.first.hal.simulation.ConstBufferCallback;
 import edu.wpi.first.hal.simulation.NotifyCallback;
+import edu.wpi.first.wpilibj.AddressableLED;
+import java.util.NoSuchElementException;
 
+/**
+ * Class to control a simulated addressable LED.
+ */
 public class AddressableLEDSim {
   private final int m_index;
 
-  public AddressableLEDSim(int index) {
+  /**
+   * Constructs for the first addressable LED.
+   */
+  public AddressableLEDSim() {
+    m_index = 0;
+  }
+
+  /**
+   * Constructs from an AddressableLED object.
+   *
+   * @param addressableLED AddressableLED to simulate
+   */
+  @SuppressWarnings("PMD.UnusedFormalParameter")
+  public AddressableLEDSim(AddressableLED addressableLED) {
+    // there is only support for a single AddressableLED, so no lookup
+    m_index = 0;
+  }
+
+  private AddressableLEDSim(int index) {
     m_index = index;
   }
 
+  /**
+   * Creates an AddressableLEDSim for a PWM channel.
+   *
+   * @param pwmChannel PWM channel
+   * @return Simulated object
+   * @throws NoSuchElementException if no AddressableLED is configured for that channel
+   */
+  public static AddressableLEDSim createForChannel(int pwmChannel) {
+    int index = AddressableLEDDataJNI.findForChannel(pwmChannel);
+    if (index < 0) {
+      throw new NoSuchElementException("no addressable LED found for PWM channel " + pwmChannel);
+    }
+    return new AddressableLEDSim(index);
+  }
+
+  /**
+   * Creates an AddressableLEDSim for a simulated index.
+   * The index is incremented for each simulated AddressableLED.
+   *
+   * @param index simulator index
+   * @return Simulated object
+   */
+  public static AddressableLEDSim createForIndex(int index) {
+    return new AddressableLEDSim(index);
+  }
+
   public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
     int uid = AddressableLEDDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AddressableLEDDataJNI::cancelInitializedCallback);

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogGyroSim.java

@@ -9,12 +9,30 @@ package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.hal.simulation.AnalogGyroDataJNI;
 import edu.wpi.first.hal.simulation.NotifyCallback;
+import edu.wpi.first.wpilibj.AnalogGyro;
 
+/**
+ * Class to control a simulated analog gyro.
+ */
 public class AnalogGyroSim {
   private final int m_index;
 
-  public AnalogGyroSim(int index) {
-    m_index = index;
+  /**
+   * Constructs from an AnalogGyro object.
+   *
+   * @param gyro AnalogGyro to simulate
+   */
+  public AnalogGyroSim(AnalogGyro gyro) {
+    m_index = gyro.getAnalogInput().getChannel();
+  }
+
+  /**
+   * Constructs from an analog input channel number.
+   *
+   * @param channel Channel number
+   */
+  public AnalogGyroSim(int channel) {
+    m_index = channel;
   }
 
   public CallbackStore registerAngleCallback(NotifyCallback callback, boolean initialNotify) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogInputSim.java

@@ -9,12 +9,31 @@ package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.hal.simulation.AnalogInDataJNI;
 import edu.wpi.first.hal.simulation.NotifyCallback;
+import edu.wpi.first.wpilibj.AnalogInput;
 
-public class AnalogInSim {
+/**
+ * Class to control a simulated analog input.
+ */
+@SuppressWarnings("PMD.TooManyMethods")
+public class AnalogInputSim {
   private final int m_index;
 
-  public AnalogInSim(int index) {
-    m_index = index;
+  /**
+   * Constructs from an AnalogInput object.
+   *
+   * @param analogInput AnalogInput to simulate
+   */
+  public AnalogInputSim(AnalogInput analogInput) {
+    m_index = analogInput.getChannel();
+  }
+
+  /**
+   * Constructs from an analog input channel number.
+   *
+   * @param channel Channel number
+   */
+  public AnalogInputSim(int channel) {
+    m_index = channel;
   }
 
   public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogOutputSim.java

@@ -9,12 +9,30 @@ package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.hal.simulation.AnalogOutDataJNI;
 import edu.wpi.first.hal.simulation.NotifyCallback;
+import edu.wpi.first.wpilibj.AnalogOutput;
 
-public class AnalogOutSim {
+/**
+ * Class to control a simulated analog output.
+ */
+public class AnalogOutputSim {
   private final int m_index;
 
-  public AnalogOutSim(int index) {
-    m_index = index;
+  /**
+   * Constructs from an AnalogOutput object.
+   *
+   * @param analogOutput AnalogOutput to simulate
+   */
+  public AnalogOutputSim(AnalogOutput analogOutput) {
+    m_index = analogOutput.getChannel();
+  }
+
+  /**
+   * Constructs from an analog output channel number.
+   *
+   * @param channel Channel number
+   */
+  public AnalogOutputSim(int channel) {
+    m_index = channel;
   }
 
   public CallbackStore registerVoltageCallback(NotifyCallback callback, boolean initialNotify) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogTriggerSim.java

@@ -9,14 +9,54 @@ package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.hal.simulation.AnalogTriggerDataJNI;
 import edu.wpi.first.hal.simulation.NotifyCallback;
+import edu.wpi.first.wpilibj.AnalogTrigger;
+import java.util.NoSuchElementException;
 
+/**
+ * Class to control a simulated analog trigger.
+ */
 public class AnalogTriggerSim {
   private final int m_index;
 
-  public AnalogTriggerSim(int index) {
+  /**
+   * Constructs from an AnalogTrigger object.
+   *
+   * @param analogTrigger AnalogTrigger to simulate
+   */
+  public AnalogTriggerSim(AnalogTrigger analogTrigger) {
+    m_index = analogTrigger.getIndex();
+  }
+
+  private AnalogTriggerSim(int index) {
     m_index = index;
   }
 
+  /**
+   * Creates an AnalogTriggerSim for an analog input channel.
+   *
+   * @param channel analog input channel
+   * @return Simulated object
+   * @throws NoSuchElementException if no AnalogTrigger is configured for that channel
+   */
+  public static AnalogTriggerSim createForChannel(int channel) {
+    int index = AnalogTriggerDataJNI.findForChannel(channel);
+    if (index < 0) {
+      throw new NoSuchElementException("no analog trigger found for channel " + channel);
+    }
+    return new AnalogTriggerSim(index);
+  }
+
+  /**
+   * Creates an AnalogTriggerSim for a simulated index.
+   * The index is incremented for each simulated AnalogTrigger.
+   *
+   * @param index simulator index
+   * @return Simulated object
+   */
+  public static AnalogTriggerSim createForIndex(int index) {
+    return new AnalogTriggerSim(index);
+  }
+
   public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
     int uid = AnalogTriggerDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, AnalogTriggerDataJNI::cancelInitializedCallback);

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/BuiltInAccelerometerSim.java

@@ -9,11 +9,28 @@ package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.hal.simulation.AccelerometerDataJNI;
 import edu.wpi.first.hal.simulation.NotifyCallback;
+import edu.wpi.first.wpilibj.BuiltInAccelerometer;
 
-public class AccelerometerSim {
+/**
+ * Class to control a simulated built-in accelerometer.
+ */
+public class BuiltInAccelerometerSim {
   private final int m_index;
 
-  public AccelerometerSim() {
+  /**
+   * Constructs for the first built-in accelerometer.
+   */
+  public BuiltInAccelerometerSim() {
+    m_index = 0;
+  }
+
+  /**
+   * Constructs from a BuiltInAccelerometer object.
+   *
+   * @param accel BuiltInAccelerometer to simulate
+   */
+  @SuppressWarnings("PMD.UnusedFormalParameter")
+  public BuiltInAccelerometerSim(BuiltInAccelerometer accel) {
     m_index = 0;
   }
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DIOSim.java

@@ -9,12 +9,40 @@ package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.hal.simulation.DIODataJNI;
 import edu.wpi.first.hal.simulation.NotifyCallback;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DigitalOutput;
 
+/**
+ * Class to control a simulated digital input or output.
+ */
 public class DIOSim {
   private final int m_index;
 
-  public DIOSim(int index) {
-    m_index = index;
+  /**
+   * Constructs from a DigitalInput object.
+   *
+   * @param input DigitalInput to simulate
+   */
+  public DIOSim(DigitalInput input) {
+    m_index = input.getChannel();
+  }
+
+  /**
+   * Constructs from a DigitalOutput object.
+   *
+   * @param output DigitalOutput to simulate
+   */
+  public DIOSim(DigitalOutput output) {
+    m_index = output.getChannel();
+  }
+
+  /**
+   * Constructs from an digital I/O channel number.
+   *
+   * @param channel Channel number
+   */
+  public DIOSim(int channel) {
+    m_index = channel;
   }
 
   public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DigitalPWMSim.java

@@ -9,14 +9,57 @@ package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.hal.simulation.DigitalPWMDataJNI;
 import edu.wpi.first.hal.simulation.NotifyCallback;
+import edu.wpi.first.wpilibj.DigitalOutput;
+import java.util.NoSuchElementException;
 
+/**
+ * Class to control a simulated digital PWM output.
+ *
+ * <p>This is for duty cycle PWM outputs on a DigitalOutput, not for the servo
+ * style PWM outputs on a PWM channel.
+ */
 public class DigitalPWMSim {
   private final int m_index;
 
-  public DigitalPWMSim(int index) {
+  /**
+   * Constructs from a DigitalOutput object.
+   *
+   * @param digitalOutput DigitalOutput to simulate
+   */
+  public DigitalPWMSim(DigitalOutput digitalOutput) {
+    m_index = digitalOutput.getChannel();
+  }
+
+  private DigitalPWMSim(int index) {
     m_index = index;
   }
 
+  /**
+   * Creates an DigitalPWMSim for a digital I/O channel.
+   *
+   * @param channel DIO channel
+   * @return Simulated object
+   * @throws NoSuchElementException if no Digital PWM is configured for that channel
+   */
+  public static DigitalPWMSim createForChannel(int channel) {
+    int index = DigitalPWMDataJNI.findForChannel(channel);
+    if (index < 0) {
+      throw new NoSuchElementException("no digital PWM found for channel " + channel);
+    }
+    return new DigitalPWMSim(index);
+  }
+
+  /**
+   * Creates an DigitalPWMSim for a simulated index.
+   * The index is incremented for each simulated DigitalPWM.
+   *
+   * @param index simulator index
+   * @return Simulated object
+   */
+  public static DigitalPWMSim createForIndex(int index) {
+    return new DigitalPWMSim(index);
+  }
+
   public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
     int uid = DigitalPWMDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, DigitalPWMDataJNI::cancelInitializedCallback);

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DriverStationSim.java

@@ -10,73 +10,77 @@ package edu.wpi.first.wpilibj.simulation;
 import edu.wpi.first.hal.simulation.DriverStationDataJNI;
 import edu.wpi.first.hal.simulation.NotifyCallback;
 
+/**
+ * Class to control a simulated driver station.
+ */
+@SuppressWarnings("PMD.UseUtilityClass")
 public class DriverStationSim {
-  public CallbackStore registerEnabledCallback(NotifyCallback callback, boolean initialNotify) {
+  public static CallbackStore registerEnabledCallback(NotifyCallback callback, boolean initialNotify) {
     int uid = DriverStationDataJNI.registerEnabledCallback(callback, initialNotify);
     return new CallbackStore(uid, DriverStationDataJNI::cancelEnabledCallback);
   }
-  public boolean getEnabled() {
+  public static boolean getEnabled() {
     return DriverStationDataJNI.getEnabled();
   }
-  public void setEnabled(boolean enabled) {
+  public static void setEnabled(boolean enabled) {
     DriverStationDataJNI.setEnabled(enabled);
   }
 
-  public CallbackStore registerAutonomousCallback(NotifyCallback callback, boolean initialNotify) {
+  public static CallbackStore registerAutonomousCallback(NotifyCallback callback, boolean initialNotify) {
     int uid = DriverStationDataJNI.registerAutonomousCallback(callback, initialNotify);
     return new CallbackStore(uid, DriverStationDataJNI::cancelAutonomousCallback);
   }
-  public boolean getAutonomous() {
+  public static boolean getAutonomous() {
     return DriverStationDataJNI.getAutonomous();
   }
-  public void setAutonomous(boolean autonomous) {
+  public static void setAutonomous(boolean autonomous) {
     DriverStationDataJNI.setAutonomous(autonomous);
   }
 
-  public CallbackStore registerTestCallback(NotifyCallback callback, boolean initialNotify) {
+  public static CallbackStore registerTestCallback(NotifyCallback callback, boolean initialNotify) {
     int uid = DriverStationDataJNI.registerTestCallback(callback, initialNotify);
     return new CallbackStore(uid, DriverStationDataJNI::cancelTestCallback);
   }
-  public boolean getTest() {
+  public static boolean getTest() {
     return DriverStationDataJNI.getTest();
   }
-  public void setTest(boolean test) {
+  public static void setTest(boolean test) {
     DriverStationDataJNI.setTest(test);
   }
 
-  public CallbackStore registerEStopCallback(NotifyCallback callback, boolean initialNotify) {
+  public static CallbackStore registerEStopCallback(NotifyCallback callback, boolean initialNotify) {
     int uid = DriverStationDataJNI.registerEStopCallback(callback, initialNotify);
     return new CallbackStore(uid, DriverStationDataJNI::cancelEStopCallback);
   }
-  public boolean getEStop() {
+  public static boolean getEStop() {
     return DriverStationDataJNI.getEStop();
   }
-  public void setEStop(boolean eStop) {
+  public static void setEStop(boolean eStop) {
     DriverStationDataJNI.setEStop(eStop);
   }
 
-  public CallbackStore registerFmsAttachedCallback(NotifyCallback callback, boolean initialNotify) {
+  public static CallbackStore registerFmsAttachedCallback(NotifyCallback callback, boolean initialNotify) {
     int uid = DriverStationDataJNI.registerFmsAttachedCallback(callback, initialNotify);
     return new CallbackStore(uid, DriverStationDataJNI::cancelFmsAttachedCallback);
   }
-  public boolean getFmsAttached() {
+  public static boolean getFmsAttached() {
     return DriverStationDataJNI.getFmsAttached();
   }
-  public void setFmsAttached(boolean fmsAttached) {
+  public static void setFmsAttached(boolean fmsAttached) {
     DriverStationDataJNI.setFmsAttached(fmsAttached);
   }
 
-  public CallbackStore registerDsAttachedCallback(NotifyCallback callback, boolean initialNotify) {
+  public static CallbackStore registerDsAttachedCallback(NotifyCallback callback, boolean initialNotify) {
     int uid = DriverStationDataJNI.registerDsAttachedCallback(callback, initialNotify);
     return new CallbackStore(uid, DriverStationDataJNI::cancelDsAttachedCallback);
   }
-  public boolean getDsAttached() {
+  public static boolean getDsAttached() {
     return DriverStationDataJNI.getDsAttached();
   }
-  public void setDsAttached(boolean dsAttached) {
+  public static void setDsAttached(boolean dsAttached) {
     DriverStationDataJNI.setDsAttached(dsAttached);
   }
-  public void notifyNewData() {
+  public static void notifyNewData() {
     DriverStationDataJNI.notifyNewData();
   }
 
@@ -85,11 +89,11 @@ public class DriverStationSim {
    *
    * @param shouldSend If false then messages will will be suppressed.
    */
-  public void setSendError(boolean shouldSend) {
+  public static void setSendError(boolean shouldSend) {
     DriverStationDataJNI.setSendError(shouldSend);
   }
 
-  public void resetData() {
+  public static void resetData() {
     DriverStationDataJNI.resetData();
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DutyCycleSim.java

@@ -9,14 +9,54 @@ package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.hal.simulation.DutyCycleDataJNI;
 import edu.wpi.first.hal.simulation.NotifyCallback;
+import edu.wpi.first.wpilibj.DutyCycle;
+import java.util.NoSuchElementException;
 
+/**
+ * Class to control a simulated duty cycle digital input.
+ */
 public class DutyCycleSim {
   private final int m_index;
 
-  public DutyCycleSim(int index) {
+  /**
+   * Constructs from a DutyCycle object.
+   *
+   * @param dutyCycle DutyCycle to simulate
+   */
+  public DutyCycleSim(DutyCycle dutyCycle) {
+    m_index = dutyCycle.getFPGAIndex();
+  }
+
+  private DutyCycleSim(int index) {
     m_index = index;
   }
 
+  /**
+   * Creates a DutyCycleSim for a digital input channel.
+   *
+   * @param channel digital input channel
+   * @return Simulated object
+   * @throws NoSuchElementException if no DutyCycle is configured for that channel
+   */
+  public static DutyCycleSim createForChannel(int channel) {
+    int index = DutyCycleDataJNI.findForChannel(channel);
+    if (index < 0) {
+      throw new NoSuchElementException("no duty cycle found for channel " + channel);
+    }
+    return new DutyCycleSim(index);
+  }
+
+  /**
+   * Creates a DutyCycleSim for a simulated index.
+   * The index is incremented for each simulated DutyCycle.
+   *
+   * @param index simulator index
+   * @return Simulated object
+   */
+  public static DutyCycleSim createForIndex(int index) {
+    return new DutyCycleSim(index);
+  }
+
   public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
     int uid = DutyCycleDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, DutyCycleDataJNI::cancelInitializedCallback);

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/EncoderSim.java

@@ -9,14 +9,56 @@ package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.hal.simulation.EncoderDataJNI;
 import edu.wpi.first.hal.simulation.NotifyCallback;
+import edu.wpi.first.wpilibj.Encoder;
+import java.util.NoSuchElementException;
 
+/**
+ * Class to control a simulated encoder.
+ */
+@SuppressWarnings("PMD.TooManyMethods")
 public class EncoderSim {
   private final int m_index;
 
-  public EncoderSim(int index) {
+  /**
+   * Constructs from an Encoder object.
+   *
+   * @param encoder Encoder to simulate
+   */
+  public EncoderSim(Encoder encoder) {
+    m_index = encoder.getFPGAIndex();
+  }
+
+  private EncoderSim(int index) {
     m_index = index;
   }
 
+  /**
+   * Creates an EncoderSim for a digital input channel.  Encoders take two
+   * channels, so either one may be specified.
+   *
+   * @param channel digital input channel
+   * @return Simulated object
+   * @throws NoSuchElementException if no Encoder is configured for that channel
+   */
+  public static EncoderSim createForChannel(int channel) {
+    int index = EncoderDataJNI.findForChannel(channel);
+    if (index < 0) {
+      throw new NoSuchElementException("no encoder found for channel " + channel);
+    }
+    return new EncoderSim(index);
+  }
+
+  /**
+   * Creates an EncoderSim for a simulated index.
+   * The index is incremented for each simulated Encoder.
+   *
+   * @param index simulator index
+   * @return Simulated object
+   */
+  public static EncoderSim createForIndex(int index) {
+    return new EncoderSim(index);
+  }
+
   public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
     int uid = EncoderDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
     return new CallbackStore(m_index, uid, EncoderDataJNI::cancelInitializedCallback);

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/NotifierSim.java

@@ -9,14 +9,27 @@ package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.hal.simulation.NotifierDataJNI;
 
+/**
+ * Class to control simulated notifiers.
+ */
 public final class NotifierSim {
   private NotifierSim() {
   }
 
+  /**
+   * Gets the timeout of the next notifier.
+   *
+   * @return Timestamp
+   */
   public static long getNextTimeout() {
     return NotifierDataJNI.getNextTimeout();
   }
 
+  /**
+   * Gets the total number of notifiers.
+   *
+   * @return Count
+   */
   public static int getNumNotifiers() {
     return NotifierDataJNI.getNumNotifiers();
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PCMSim.java

@@ -9,12 +9,38 @@ package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.hal.simulation.NotifyCallback;
 import edu.wpi.first.hal.simulation.PCMDataJNI;
+import edu.wpi.first.wpilibj.Compressor;
+import edu.wpi.first.wpilibj.SensorUtil;
 
+/**
+ * Class to control a simulated Pneumatic Control Module (PCM).
+ */
 public class PCMSim {
   private final int m_index;
 
-  public PCMSim(int index) {
-    m_index = index;
+  /**
+   * Constructs for the default PCM.
+   */
+  public PCMSim() {
+    m_index = SensorUtil.getDefaultSolenoidModule();
+  }
+
+  /**
+   * Constructs from a PCM module number (CAN ID).
+   *
+   * @param module module number
+   */
+  public PCMSim(int module) {
+    m_index = module;
+  }
+
+  /**
+   * Constructs from a Compressor object.
+   *
+   * @param compressor Compressor connected to PCM to simulate
+   */
+  public PCMSim(Compressor compressor) {
+    m_index = compressor.getModule();
   }
 
   public CallbackStore registerSolenoidInitializedCallback(int channel, NotifyCallback callback, boolean initialNotify) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PDPSim.java

@@ -9,12 +9,37 @@ package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.hal.simulation.NotifyCallback;
 import edu.wpi.first.hal.simulation.PDPDataJNI;
+import edu.wpi.first.wpilibj.PowerDistributionPanel;
 
+/**
+ * Class to control a simulated Power Distribution Panel (PDP).
+ */
 public class PDPSim {
   private final int m_index;
 
-  public PDPSim(int index) {
-    m_index = index;
+  /**
+   * Constructs for the default PDP.
+   */
+  public PDPSim() {
+    m_index = 0;
+  }
+
+  /**
+   * Constructs from a PDP module number (CAN ID).
+   *
+   * @param module module number
+   */
+  public PDPSim(int module) {
+    m_index = module;
+  }
+
+  /**
+   * Constructs from a PowerDistributionPanel object.
+   *
+   * @param pdp PowerDistributionPanel to simulate
+   */
+  public PDPSim(PowerDistributionPanel pdp) {
+    m_index = pdp.getModule();
   }
 
   public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PWMSim.java

@@ -9,12 +9,30 @@ package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.hal.simulation.NotifyCallback;
 import edu.wpi.first.hal.simulation.PWMDataJNI;
+import edu.wpi.first.wpilibj.PWM;
 
+/**
+ * Class to control a simulated PWM output.
+ */
 public class PWMSim {
   private final int m_index;
 
-  public PWMSim(int index) {
-    m_index = index;
+  /**
+   * Constructs from a PWM object.
+   *
+   * @param pwm PWM to simulate
+   */
+  public PWMSim(PWM pwm) {
+    m_index = pwm.getChannel();
+  }
+
+  /**
+   * Constructs from a PWM channel number.
+   *
+   * @param channel Channel number
+   */
+  public PWMSim(int channel) {
+    m_index = channel;
   }
 
   public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/RelaySim.java

@@ -9,12 +9,30 @@ package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.hal.simulation.NotifyCallback;
 import edu.wpi.first.hal.simulation.RelayDataJNI;
+import edu.wpi.first.wpilibj.Relay;
 
+/**
+ * Class to control a simulated relay.
+ */
 public class RelaySim {
   private final int m_index;
 
-  public RelaySim(int index) {
-    m_index = index;
+  /**
+   * Constructs from a Relay object.
+   *
+   * @param relay Relay to simulate
+   */
+  public RelaySim(Relay relay) {
+    m_index = relay.getChannel();
+  }
+
+  /**
+   * Constructs from a relay channel number.
+   *
+   * @param channel Channel number
+   */
+  public RelaySim(int channel) {
+    m_index = channel;
   }
 
   public CallbackStore registerInitializedForwardCallback(NotifyCallback callback, boolean initialNotify) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SPISim.java

@@ -16,8 +16,8 @@ import edu.wpi.first.hal.simulation.SpiReadAutoReceiveBufferCallback;
 public class SPISim {
   private final int m_index;
 
-  public SPISim(int index) {
-    m_index = index;
+  public SPISim() {
+    m_index = 0;
   }
 
   public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SimDeviceSim.java

@@ -15,9 +15,17 @@ import edu.wpi.first.hal.simulation.SimDeviceCallback;
 import edu.wpi.first.hal.simulation.SimDeviceDataJNI;
 import edu.wpi.first.hal.simulation.SimValueCallback;
 
+/**
+ * Class to control the simulation side of a SimDevice.
+ */
 public class SimDeviceSim {
   private final int m_handle;
 
+  /**
+   * Constructs a SimDeviceSim.
+   *
+   * @param name name of the SimDevice
+   */
   public SimDeviceSim(String name) {
     m_handle = SimDeviceDataJNI.getSimDeviceHandle(name);
   }