[sim] Add AnalogEncoderSim (#2647)

wpilibc/src/main/native/include/frc/simulation/AnalogEncoderSim.h

@@ -0,0 +1,59 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2020 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <hal/SimDevice.h>
+#include <units/angle.h>
+
+#include "frc/geometry/Rotation2d.h"
+
+namespace frc {
+
+class AnalogEncoder;
+
+namespace sim {
+
+/**
+ * Class to control a simulated analog encoder.
+ */
+class AnalogEncoderSim {
+ public:
+  /**
+   * Constructs from an AnalogEncoder object.
+   *
+   * @param analogInput AnalogEncoder to simulate
+   */
+  explicit AnalogEncoderSim(const AnalogEncoder& analogEncoder);
+
+  /**
+   * Set the position using an {@link Rotation2d}.
+   */
+  void SetPosition(Rotation2d angle);
+
+  /**
+   * Set the position of the encoder.
+   *
+   * @param turns The position.
+   */
+  void SetTurns(units::turn_t turns);
+
+  /**
+   * Get the simulated position.
+   */
+  units::turn_t GetTurns();
+
+  /**
+   * Get the position as a {@link Rotation2d}.
+   */
+  Rotation2d GetPosition();
+
+ private:
+  hal::SimDouble m_positionSim;
+};
+}  // namespace sim
+}  // namespace frc