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[sim] Add HALSIM accessors for encoder rate and distance (#2467)

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This commit is contained in:
Thad House
2020-04-03 08:33:38 -07:00
committed by GitHub
parent 2b188b54d8
commit 3ed2908563
6 changed files with 116 additions and 6 deletions
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28
hal/src/main/native/sim/mockdata/EncoderData.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 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. */
@@ -66,6 +66,32 @@ DEFINE_CAPI(HAL_Bool, ReverseDirection, reverseDirection)
DEFINE_CAPI(int32_t, SamplesToAverage, samplesToAverage)
DEFINE_CAPI(double, DistancePerPulse, distancePerPulse)
void HALSIM_SetEncoderDistance(int32_t index, double distance) {
auto& simData = SimEncoderData[index];
simData.count = distance / simData.distancePerPulse;
}
double HALSIM_GetEncoderDistance(int32_t index) {
auto& simData = SimEncoderData[index];
return simData.count * simData.distancePerPulse;
}
void HALSIM_SetEncoderRate(int32_t index, double rate) {
auto& simData = SimEncoderData[index];
if (rate == 0) {
simData.period = std::numeric_limits<double>::infinity();
return;
}
simData.period = simData.distancePerPulse / rate;
}
double HALSIM_GetEncoderRate(int32_t index) {
auto& simData = SimEncoderData[index];
return simData.distancePerPulse / simData.period;
}
#define REGISTER(NAME) \
SimEncoderData[index].NAME.RegisterCallback(callback, param, initialNotify)