[wpilib] Add support for the PS5 DualSense controller (#5257)

Co-authored-by: Tyler Veness <calcmogul@gmail.com>

wpilibc/src/main/native/include/frc/simulation/PS5ControllerSim.h

@@ -0,0 +1,176 @@
+// 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.
+
+#pragma once
+
+#include "frc/simulation/GenericHIDSim.h"
+
+namespace frc {
+
+class PS5Controller;
+
+namespace sim {
+
+/**
+ * Class to control a simulated PS5 controller.
+ */
+class PS5ControllerSim : public GenericHIDSim {
+ public:
+  /**
+   * Constructs from a PS5Controller object.
+   *
+   * @param joystick controller to simulate
+   */
+  explicit PS5ControllerSim(const PS5Controller& joystick);
+
+  /**
+   * Constructs from a joystick port number.
+   *
+   * @param port port number
+   */
+  explicit PS5ControllerSim(int port);
+
+  /**
+   * Change the X axis value of the controller's left stick.
+   *
+   * @param value the new value
+   */
+  void SetLeftX(double value);
+
+  /**
+   * Change the X axis value of the controller's right stick.
+   *
+   * @param value the new value
+   */
+  void SetRightX(double value);
+
+  /**
+   * Change the Y axis value of the controller's left stick.
+   *
+   * @param value the new value
+   */
+  void SetLeftY(double value);
+
+  /**
+   * Change the Y axis value of the controller's right stick.
+   *
+   * @param value the new value
+   */
+  void SetRightY(double value);
+
+  /**
+   * Change the L2 axis axis value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetL2Axis(double value);
+
+  /**
+   * Change the R2 axis value of the controller.
+   *
+   * @param value the new value
+   */
+  void SetR2Axis(double value);
+
+  /**
+   * Change the value of the Square button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetSquareButton(bool value);
+
+  /**
+   * Change the value of the Cross button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetCrossButton(bool value);
+
+  /**
+   * Change the value of the Circle button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetCircleButton(bool value);
+
+  /**
+   * Change the value of the Triangle button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetTriangleButton(bool value);
+
+  /**
+   * Change the value of the L1 button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetL1Button(bool value);
+
+  /**
+   * Change the value of the R1 button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetR1Button(bool value);
+
+  /**
+   * Change the value of the L2 button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetL2Button(bool value);
+
+  /**
+   * Change the value of the R2 button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetR2Button(bool value);
+
+  /**
+   * Change the value of the Create button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetCreateButton(bool value);
+
+  /**
+   * Change the value of the Options button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetOptionsButton(bool value);
+
+  /**
+   * Change the value of the L3 (left stick) button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetL3Button(bool value);
+
+  /**
+   * Change the value of the R3 (right stick) button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetR3Button(bool value);
+
+  /**
+   * Change the value of the PS button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetPSButton(bool value);
+
+  /**
+   * Change the value of the touchpad button on the controller.
+   *
+   * @param value the new value
+   */
+  void SetTouchpad(bool value);
+};
+
+}  // namespace sim
+}  // namespace frc