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Implement sim devices for ADXL345, ADXL362, ADXRS450, Ultrasonic

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This makes the halsim_adx_gyro_accelerometer simulation plugin and
the accelerometer part of lowfi_simulation obsolete.
This commit is contained in:
Peter Johnson
2019-09-29 00:57:16 -07:00
parent aa90645865
commit a9f0e46680
42 changed files with 371 additions and 1337 deletions
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46
simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.cpp
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@@ -1,46 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 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 "lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.h"
namespace frc {
namespace sim {
namespace lowfi {
ADXLThreeAxisAccelerometerSim::ADXLThreeAxisAccelerometerSim(
hal::ThreeAxisAccelerometerData& accelerometerWrapper)
: m_accelerometerWrapper(accelerometerWrapper),
m_xWrapper(
[data = &m_accelerometerWrapper] { return data->GetInitialized(); },
[data = &m_accelerometerWrapper](double x) { data->x = x; },
[data = &m_accelerometerWrapper] { return data->GetX(); }),
m_yWrapper(
[data = &m_accelerometerWrapper] { return data->GetInitialized(); },
[data = &m_accelerometerWrapper](double y) { data->y = y; },
[data = &m_accelerometerWrapper] { return data->GetY(); }),
m_zWrapper(
[data = &m_accelerometerWrapper] { return data->GetInitialized(); },
[data = &m_accelerometerWrapper](double z) { data->z = z; },
[data = &m_accelerometerWrapper] { return data->GetZ(); }) {}
AccelerometerSim& ADXLThreeAxisAccelerometerSim::GetXWrapper() {
return m_xWrapper;
}
AccelerometerSim& ADXLThreeAxisAccelerometerSim::GetYWrapper() {
return m_yWrapper;
}
AccelerometerSim& ADXLThreeAxisAccelerometerSim::GetZWrapper() {
return m_zWrapper;
}
} // namespace lowfi
} // namespace sim
} // namespace frc

29
simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.cpp
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@@ -1,29 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 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 "lowfisim/wpisimulators/ADXRS450_SpiGyroSim.h"
namespace frc {
namespace sim {
namespace lowfi {
ADXRS450_SpiGyroSim::ADXRS450_SpiGyroSim(int spiPort)
: m_gyroWrapper(spiPort) {}
bool ADXRS450_SpiGyroSim::IsWrapperInitialized() const {
return m_gyroWrapper.GetInitialized();
}
void ADXRS450_SpiGyroSim::SetAngle(double angle) {
m_gyroWrapper.SetAngle(angle);
}
double ADXRS450_SpiGyroSim::GetAngle() { return m_gyroWrapper.GetAngle(); }
} // namespace lowfi
} // namespace sim
} // namespace frc