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[wpilib] Add simulation support to ADIS classes (#3857)

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This commit is contained in:
Tyler Veness
2022-01-03 11:44:12 -08:00
committed by GitHub
parent c137569f91
commit 831052f118
12 changed files with 1077 additions and 223 deletions
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59
wpilibc/src/main/native/cpp/simulation/ADIS16448_IMUSim.cpp Normal file
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// 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/simulation/ADIS16448_IMUSim.h"
#include <frc/ADIS16448_IMU.h>
#include <frc/simulation/SimDeviceSim.h>
using namespace frc::sim;
ADIS16448_IMUSim::ADIS16448_IMUSim(const frc::ADIS16448_IMU& imu) {
frc::sim::SimDeviceSim deviceSim{"Gyro:ADIS16448", imu.GetPort()};
m_simGyroAngleX = deviceSim.GetDouble("gyro_angle_x");
m_simGyroAngleY = deviceSim.GetDouble("gyro_angle_y");
m_simGyroAngleZ = deviceSim.GetDouble("gyro_angle_z");
m_simGyroRateX = deviceSim.GetDouble("gyro_rate_x");
m_simGyroRateY = deviceSim.GetDouble("gyro_rate_y");
m_simGyroRateZ = deviceSim.GetDouble("gyro_rate_z");
m_simAccelX = deviceSim.GetDouble("accel_x");
m_simAccelY = deviceSim.GetDouble("accel_y");
m_simAccelZ = deviceSim.GetDouble("accel_z");
}
void ADIS16448_IMUSim::SetGyroAngleX(units::degree_t angle) {
m_simGyroAngleX.Set(angle.value());
}
void ADIS16448_IMUSim::SetGyroAngleY(units::degree_t angle) {
m_simGyroAngleY.Set(angle.value());
}
void ADIS16448_IMUSim::SetGyroAngleZ(units::degree_t angle) {
m_simGyroAngleZ.Set(angle.value());
}
void ADIS16448_IMUSim::SetGyroRateX(units::degrees_per_second_t rate) {
m_simGyroRateX.Set(rate.value());
}
void ADIS16448_IMUSim::SetGyroRateY(units::degrees_per_second_t rate) {
m_simGyroRateY.Set(rate.value());
}
void ADIS16448_IMUSim::SetGyroRateZ(units::degrees_per_second_t rate) {
m_simGyroRateZ.Set(rate.value());
}
void ADIS16448_IMUSim::SetAccelX(units::meters_per_second_squared_t accel) {
m_simAccelX.Set(accel.value() / 9.81);
}
void ADIS16448_IMUSim::SetAccelY(units::meters_per_second_squared_t accel) {
m_simAccelY.Set(accel.value() / 9.81);
}
void ADIS16448_IMUSim::SetAccelZ(units::meters_per_second_squared_t accel) {
m_simAccelZ.Set(accel.value() / 9.81);
}