[sim] Add AnalogEncoderSim (#2647)

wpilibc/src/main/native/cpp/simulation/AnalogEncoderSim.cpp

@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/simulation/AnalogEncoderSim.h"
+
+#include <wpi/SmallString.h>
+#include <wpi/raw_ostream.h>
+
+#include "frc/AnalogEncoder.h"
+#include "frc/simulation/SimDeviceSim.h"
+
+using namespace frc::sim;
+
+AnalogEncoderSim::AnalogEncoderSim(const frc::AnalogEncoder& analogEncoder) {
+  wpi::SmallString<128> fullname;
+  wpi::raw_svector_ostream os(fullname);
+  os << "AnalogEncoder" << '[' << analogEncoder.GetChannel() << ']';
+  frc::sim::SimDeviceSim deviceSim{fullname.c_str()};
+  m_positionSim = deviceSim.GetDouble("Position");
+}
+
+void AnalogEncoderSim::SetPosition(frc::Rotation2d angle) {
+  SetTurns(angle.Degrees());
+}
+
+void AnalogEncoderSim::SetTurns(units::turn_t turns) {
+  m_positionSim.Set(turns.to<double>());
+}
+
+units::turn_t AnalogEncoderSim::GetTurns() {
+  return units::turn_t{m_positionSim.Get()};
+}
+
+frc::Rotation2d AnalogEncoderSim::GetPosition() {
+  units::radian_t rads = GetTurns();
+  return frc::Rotation2d{rads};
+}