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[sim] Use DutyCycleEncoder FPGA index for sim device number (#2803)

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The source channel doesn't necessarily correspond with the HALSIM device
index.
This commit is contained in:
Tyler Veness
2020-10-24 20:18:58 -07:00
committed by GitHub
parent 1e17e40868
commit 7ae8c7b247
5 changed files with 23 additions and 2 deletions
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4
wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
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@@ -132,6 +132,10 @@ void DutyCycleEncoder::SetConnectedFrequencyThreshold(int frequency) {
m_frequencyThreshold = frequency;
}
int DutyCycleEncoder::GetFPGAIndex() const {
return m_dutyCycle->GetFPGAIndex();
}
int DutyCycleEncoder::GetSourceChannel() const {
return m_dutyCycle->GetSourceChannel();
}

2
wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp
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@@ -18,7 +18,7 @@ using namespace frc::sim;
DutyCycleEncoderSim::DutyCycleEncoderSim(const frc::DutyCycleEncoder& encoder) {
wpi::SmallString<128> fullname;
wpi::raw_svector_ostream os(fullname);
os << "DutyCycleEncoder" << '[' << encoder.GetSourceChannel() << ']';
os << "DutyCycleEncoder" << '[' << encoder.GetFPGAIndex() << ']';
frc::sim::SimDeviceSim deviceSim{fullname.c_str()};
m_simPosition = deviceSim.GetDouble("Position");
m_simDistancePerRotation = deviceSim.GetDouble("DistancePerRotation");