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[hal] Add SimValue reset() function (#3064)

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This enables correct behavior for resetting incremental sensor values like
encoder counts or gyro accumulated angle with WebSockets.
This commit is contained in:
Peter Johnson
2021-01-12 00:38:58 -08:00
committed by GitHub
parent 9c3b51ca0f
commit bc80c55353
20 changed files with 324 additions and 11 deletions
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5
wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
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@@ -114,10 +114,7 @@ double ADXRS450_Gyro::GetRate() const {
void ADXRS450_Gyro::Reset() {
if (m_simAngle) {
m_simAngle.Set(0.0);
}
if (m_simRate) {
m_simRate.Set(0.0);
m_simAngle.Reset();
}
m_spi.ResetAccumulator();
}

6
wpilibc/src/main/native/include/frc/simulation/SimDeviceSim.h
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@@ -105,6 +105,12 @@ class SimDeviceSim {
*/
operator HAL_SimDeviceHandle() const { return m_handle; } // NOLINT
/**
* Get all sim devices with the given prefix.
*
* @param prefix the prefix to filter sim devices
* @param callback callback function to call for each sim device
*/
template <typename F>
static void EnumerateDevices(const char* prefix, F callback) {
return HALSIM_EnumerateSimDevices(