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[sim] Fix ADXRS450_GyroSim and DutyCycleEncoderSim (#2963)

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These were broken by #2952.

Also fix Java ADXRS450_Gyro angle/rate SimValue names.
This commit is contained in:
Peter Johnson
2020-12-24 12:23:38 -08:00
committed by GitHub
parent 240c629cda
commit a8bb2ef1c3
8 changed files with 23 additions and 14 deletions
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3
wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
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@@ -60,6 +60,8 @@ void DutyCycleEncoder::Init() {
if (m_simDevice) {
m_simPosition =
m_simDevice.CreateDouble("position", hal::SimDevice::kInput, 0.0);
m_simDistancePerRotation = m_simDevice.CreateDouble(
"distance_per_rot", hal::SimDevice::kOutput, 1.0);
m_simIsConnected =
m_simDevice.CreateBoolean("connected", hal::SimDevice::kInput, true);
} else {
@@ -101,6 +103,7 @@ units::turn_t DutyCycleEncoder::Get() const {
void DutyCycleEncoder::SetDistancePerRotation(double distancePerRotation) {
m_distancePerRotation = distancePerRotation;
m_simDistancePerRotation.Set(distancePerRotation);
}
double DutyCycleEncoder::GetDistancePerRotation() const {

6
wpilibc/src/main/native/cpp/simulation/ADXRS450_GyroSim.cpp
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@@ -18,10 +18,10 @@ using namespace frc::sim;
ADXRS450_GyroSim::ADXRS450_GyroSim(const frc::ADXRS450_Gyro& gyro) {
wpi::SmallString<128> fullname;
wpi::raw_svector_ostream os(fullname);
os << "ADXRS450_Gyro" << '[' << gyro.GetPort() << ']';
os << "Gyro:ADXRS450" << '[' << gyro.GetPort() << ']';
frc::sim::SimDeviceSim deviceSim{fullname.c_str()};
m_simAngle = deviceSim.GetDouble("Angle");
m_simRate = deviceSim.GetDouble("Rate");
m_simAngle = deviceSim.GetDouble("angle_x");
m_simRate = deviceSim.GetDouble("rate_x");
}
void ADXRS450_GyroSim::SetAngle(units::degree_t angle) {

7
wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp
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@@ -18,10 +18,11 @@ using namespace frc::sim;
DutyCycleEncoderSim::DutyCycleEncoderSim(const frc::DutyCycleEncoder& encoder) {
wpi::SmallString<128> fullname;
wpi::raw_svector_ostream os(fullname);
os << "DutyCycleEncoder" << '[' << encoder.GetFPGAIndex() << ']';
os << "DutyCycle:DutyCycleEncoder" << '[' << encoder.GetSourceChannel()
<< ']';
frc::sim::SimDeviceSim deviceSim{fullname.c_str()};
m_simPosition = deviceSim.GetDouble("Position");
m_simDistancePerRotation = deviceSim.GetDouble("DistancePerRotation");
m_simPosition = deviceSim.GetDouble("position");
m_simDistancePerRotation = deviceSim.GetDouble("distance_per_rot");
}
void DutyCycleEncoderSim::Set(units::turn_t turns) {

1
wpilibc/src/main/native/include/frc/DutyCycleEncoder.h
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@@ -183,6 +183,7 @@ class DutyCycleEncoder : public ErrorBase,
hal::SimDevice m_simDevice;
hal::SimDouble m_simPosition;
hal::SimDouble m_simDistancePerRotation;
hal::SimBoolean m_simIsConnected;
};
} // namespace frc

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
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@@ -72,8 +72,8 @@ public class ADXRS450_Gyro extends GyroBase implements Gyro, PIDSource, Sendable
m_simDevice = SimDevice.create("Gyro:ADXRS450", port.value);
if (m_simDevice != null) {
m_simConnected = m_simDevice.createBoolean("connected", SimDevice.Direction.kInput, true);
m_simAngle = m_simDevice.createDouble("angle", SimDevice.Direction.kInput, 0.0);
m_simRate = m_simDevice.createDouble("rate", SimDevice.Direction.kInput, 0.0);
m_simAngle = m_simDevice.createDouble("angle_x", SimDevice.Direction.kInput, 0.0);
m_simRate = m_simDevice.createDouble("rate_x", SimDevice.Direction.kInput, 0.0);
}
m_spi.setClockRate(3000000);

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
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@@ -32,6 +32,7 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
protected SimDevice m_simDevice;
protected SimDouble m_simPosition;
protected SimDouble m_simDistancePerRotation;
protected SimBoolean m_simIsConnected;
/**
@@ -72,6 +73,8 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
if (m_simDevice != null) {
m_simPosition = m_simDevice.createDouble("position", SimDevice.Direction.kInput, 0.0);
m_simDistancePerRotation = m_simDevice.createDouble("distance_per_rot",
SimDevice.Direction.kOutput, 1.0);
m_simIsConnected = m_simDevice.createBoolean("connected", SimDevice.Direction.kInput, true);
} else {
m_counter = new Counter();

6
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADXRS450_GyroSim.java
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@@ -24,9 +24,9 @@ public class ADXRS450_GyroSim {
* @param gyro ADXRS450_Gyro to simulate
*/
public ADXRS450_GyroSim(ADXRS450_Gyro gyro) {
SimDeviceSim wrappedSimDevice = new SimDeviceSim("ADXRS450_Gyro" + "[" + gyro.getPort() + "]");
m_simAngle = wrappedSimDevice.getDouble("Angle");
m_simRate = wrappedSimDevice.getDouble("Rate");
SimDeviceSim wrappedSimDevice = new SimDeviceSim("Gyro:ADXRS450" + "[" + gyro.getPort() + "]");
m_simAngle = wrappedSimDevice.getDouble("angle_x");
m_simRate = wrappedSimDevice.getDouble("rate_x");
}
/**

7
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DutyCycleEncoderSim.java
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@@ -23,9 +23,10 @@ public class DutyCycleEncoderSim {
* @param encoder DutyCycleEncoder to simulate
*/
public DutyCycleEncoderSim(DutyCycleEncoder encoder) {
SimDeviceSim wrappedSimDevice = new SimDeviceSim("DutyCycleEncoder" + "[" + encoder.getFPGAIndex() + "]");
m_simPosition = wrappedSimDevice.getDouble("Position");
m_simDistancePerRotation = wrappedSimDevice.getDouble("DistancePerRotation");
SimDeviceSim wrappedSimDevice = new SimDeviceSim("DutyCycle:DutyCycleEncoder" + "["
+ encoder.getSourceChannel() + "]");
m_simPosition = wrappedSimDevice.getDouble("position");
m_simDistancePerRotation = wrappedSimDevice.getDouble("distance_per_rot");
}
/**