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[sim] Set Encoder reset to false when count set (#2692)

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This commit is contained in:
Peter Johnson
2020-09-04 20:51:08 -07:00
committed by GitHub
parent 5e54e13140
commit b10063da9a
1 changed files with 22 additions and 1 deletions
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23
hal/src/main/native/sim/mockdata/EncoderData.cpp
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@@ -67,7 +67,6 @@ HAL_SimDeviceHandle HALSIM_GetEncoderSimDevice(int32_t index) {
SimEncoderData, LOWERNAME)
DEFINE_CAPI(HAL_Bool, Initialized, initialized)
DEFINE_CAPI(int32_t, Count, count)
DEFINE_CAPI(double, Period, period)
DEFINE_CAPI(HAL_Bool, Reset, reset)
DEFINE_CAPI(double, MaxPeriod, maxPeriod)
@@ -76,9 +75,31 @@ DEFINE_CAPI(HAL_Bool, ReverseDirection, reverseDirection)
DEFINE_CAPI(int32_t, SamplesToAverage, samplesToAverage)
DEFINE_CAPI(double, DistancePerPulse, distancePerPulse)
int32_t HALSIM_RegisterEncoderCountCallback(int32_t index,
HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify) {
return SimEncoderData[index].count.RegisterCallback(callback, param,
initialNotify);
}
void HALSIM_CancelEncoderCountCallback(int32_t index, int32_t uid) {
SimEncoderData[index].count.CancelCallback(uid);
}
int32_t HALSIM_GetEncoderCount(int32_t index) {
return SimEncoderData[index].count;
}
void HALSIM_SetEncoderCount(int32_t index, int32_t count) {
SimEncoderData[index].count = count;
SimEncoderData[index].reset = false;
}
void HALSIM_SetEncoderDistance(int32_t index, double distance) {
auto& simData = SimEncoderData[index];
simData.count = distance / simData.distancePerPulse;
simData.reset = false;
}
double HALSIM_GetEncoderDistance(int32_t index) {