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Add gyro and accelerometer simulator wrappers (#1183)

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This commit is contained in:
PJ Reiniger
2018-08-02 00:39:20 -04:00
committed by Peter Johnson
parent 0a0d9245e2
commit c2ceebfb9c
19 changed files with 663 additions and 23 deletions
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52
simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* 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(std::function<void(double)>(
std::bind(&hal::ThreeAxisAccelerometerData::SetX,
&m_accelerometerWrapper, std::placeholders::_1)),
std::function<double(void)>(
std::bind(&hal::ThreeAxisAccelerometerData::GetX,
&m_accelerometerWrapper))),
m_yWrapper(std::function<void(double)>(
std::bind(&hal::ThreeAxisAccelerometerData::SetY,
&m_accelerometerWrapper, std::placeholders::_1)),
std::function<double(void)>(
std::bind(&hal::ThreeAxisAccelerometerData::GetY,
&m_accelerometerWrapper))),
m_zWrapper(std::function<void(double)>(
std::bind(&hal::ThreeAxisAccelerometerData::SetZ,
&m_accelerometerWrapper, std::placeholders::_1)),
std::function<double(void)>(
std::bind(&hal::ThreeAxisAccelerometerData::GetZ,
&m_accelerometerWrapper))) {}
AccelerometerSim& ADXLThreeAxisAccelerometerSim::GetXWrapper() {
return m_xWrapper;
}
AccelerometerSim& ADXLThreeAxisAccelerometerSim::GetYWrapper() {
return m_yWrapper;
}
AccelerometerSim& ADXLThreeAxisAccelerometerSim::GetZWrapper() {
return m_zWrapper;
}
} // namespace lowfi
} // namespace sim
} // namespace frc

25
simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* 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) {}
void ADXRS450_SpiGyroSim::SetAngle(double angle) {
m_gyroWrapper.SetAngle(angle);
}
double ADXRS450_SpiGyroSim::GetAngle() { return m_gyroWrapper.GetAngle(); }
} // namespace lowfi
} // namespace sim
} // namespace frc

24
simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiAnalogGyroSim.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* 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/WpiAnalogGyroSim.h"
namespace frc {
namespace sim {
namespace lowfi {
WpiAnalogGyroSim::WpiAnalogGyroSim(int index) : m_gyroSimulator(index) {}
void WpiAnalogGyroSim::SetAngle(double angle) {
m_gyroSimulator.SetAngle(angle);
}
double WpiAnalogGyroSim::GetAngle() { return m_gyroSimulator.GetAngle(); }
} // namespace lowfi
} // namespace sim
} // namespace frc