[wpilib] Move RomiGyro into main wpilibc/j (#3143)

wpilibc/src/main/native/cpp/romi/RomiGyro.cpp

@@ -0,0 +1,89 @@
+// 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/romi/RomiGyro.h"
+
+using namespace frc;
+
+RomiGyro::RomiGyro() : m_simDevice("Gyro:RomiGyro") {
+  if (m_simDevice) {
+    m_simDevice.CreateBoolean("init", hal::SimDevice::kOutput, true);
+    m_simRateX =
+        m_simDevice.CreateDouble("rate_x", hal::SimDevice::kInput, 0.0);
+    m_simRateY =
+        m_simDevice.CreateDouble("rate_y", hal::SimDevice::kInput, 0.0);
+    m_simRateZ =
+        m_simDevice.CreateDouble("rate_z", hal::SimDevice::kInput, 0.0);
+    m_simAngleX =
+        m_simDevice.CreateDouble("angle_x", hal::SimDevice::kInput, 0.0);
+    m_simAngleY =
+        m_simDevice.CreateDouble("angle_y", hal::SimDevice::kInput, 0.0);
+    m_simAngleZ =
+        m_simDevice.CreateDouble("angle_z", hal::SimDevice::kInput, 0.0);
+  }
+}
+
+double RomiGyro::GetAngle() const {
+  return GetAngleZ();
+}
+
+double RomiGyro::GetRate() const {
+  return GetRateZ();
+}
+
+double RomiGyro::GetRateX() const {
+  if (m_simRateX) {
+    return m_simRateX.Get();
+  }
+
+  return 0.0;
+}
+
+double RomiGyro::GetRateY() const {
+  if (m_simRateY) {
+    return m_simRateY.Get();
+  }
+
+  return 0.0;
+}
+
+double RomiGyro::GetRateZ() const {
+  if (m_simRateZ) {
+    return m_simRateZ.Get();
+  }
+
+  return 0.0;
+}
+
+double RomiGyro::GetAngleX() const {
+  if (m_simAngleX) {
+    return m_simAngleX.Get() - m_angleXOffset;
+  }
+
+  return 0.0;
+}
+
+double RomiGyro::GetAngleY() const {
+  if (m_simAngleY) {
+    return m_simAngleY.Get() - m_angleYOffset;
+  }
+
+  return 0.0;
+}
+
+double RomiGyro::GetAngleZ() const {
+  if (m_simAngleZ) {
+    return m_simAngleZ.Get() - m_angleZOffset;
+  }
+
+  return 0.0;
+}
+
+void RomiGyro::Reset() {
+  if (m_simAngleX) {
+    m_angleXOffset = m_simAngleX.Get();
+    m_angleYOffset = m_simAngleY.Get();
+    m_angleZOffset = m_simAngleZ.Get();
+  }
+}