[wpilib] DutyCycleEncoderSim: Expand API (#5443)

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

@@ -246,6 +246,9 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
     if (m_counter != null) {
       m_counter.reset();
     }
+    if (m_simPosition != null) {
+      m_simPosition.set(0);
+    }
     m_positionOffset = getAbsolutePosition();
   }
 

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

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.wpilibj.simulation;
 
+import edu.wpi.first.hal.SimBoolean;
 import edu.wpi.first.hal.SimDouble;
 import edu.wpi.first.wpilibj.DutyCycleEncoder;
 
@@ -11,6 +12,8 @@ import edu.wpi.first.wpilibj.DutyCycleEncoder;
 public class DutyCycleEncoderSim {
   private final SimDouble m_simPosition;
   private final SimDouble m_simDistancePerRotation;
+  private final SimDouble m_simAbsolutePosition;
+  private final SimBoolean m_simIsConnected;
 
   /**
    * Constructs from an DutyCycleEncoder object.
@@ -30,6 +33,17 @@ public class DutyCycleEncoderSim {
     SimDeviceSim wrappedSimDevice = new SimDeviceSim("DutyCycle:DutyCycleEncoder", channel);
     m_simPosition = wrappedSimDevice.getDouble("position");
     m_simDistancePerRotation = wrappedSimDevice.getDouble("distance_per_rot");
+    m_simAbsolutePosition = wrappedSimDevice.getDouble("absPosition");
+    m_simIsConnected = wrappedSimDevice.getBoolean("connected");
+  }
+
+  /**
+   * Get the position in turns.
+   *
+   * @return The position.
+   */
+  public double get() {
+    return m_simPosition.get();
   }
 
   /**
@@ -42,11 +56,65 @@ public class DutyCycleEncoderSim {
   }
 
   /**
-   * Set the position.
+   * Get the distance.
    *
-   * @param distance The position.
+   * @return The distance.
+   */
+  public double getDistance() {
+    return m_simPosition.get() * m_simDistancePerRotation.get();
+  }
+
+  /**
+   * Set the distance.
+   *
+   * @param distance The distance.
    */
   public void setDistance(double distance) {
     m_simPosition.set(distance / m_simDistancePerRotation.get());
   }
+
+  /**
+   * Get the absolute position.
+   *
+   * @return The absolute position
+   */
+  public double getAbsolutePosition() {
+    return m_simAbsolutePosition.get();
+  }
+
+  /**
+   * Set the absolute position.
+   *
+   * @param position The absolute position
+   */
+  public void setAbsolutePosition(double position) {
+    m_simAbsolutePosition.set(position);
+  }
+
+  /**
+   * Get the distance per rotation for this encoder.
+   *
+   * @return The scale factor that will be used to convert rotation to useful units.
+   */
+  public double getDistancePerRotation() {
+    return m_simDistancePerRotation.get();
+  }
+
+  /**
+   * Get if the encoder is connected.
+   *
+   * @return true if the encoder is connected.
+   */
+  public boolean getConnected() {
+    return m_simIsConnected.get();
+  }
+
+  /**
+   * Set if the encoder is connected.
+   *
+   * @param isConnected Whether or not the sensor is connected.
+   */
+  public void setConnected(boolean isConnected) {
+    m_simIsConnected.set(isConnected);
+  }
 }