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[sim] Add Mechanism2D to Simulation GUI (#2607)

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Gabe Deml
2020-08-04 01:38:12 -04:00
committed by GitHub
parent 2f81f2b78a
commit ceea1f9d44
6 changed files with 479 additions and 0 deletions
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50
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/Mechanism2D.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2020 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDouble;
import java.util.HashMap;
import java.util.Map;
public class Mechanism2D {
private static final SimDevice m_device = SimDevice.create("Mechanism2D");
private static final Map<String, SimDouble> m_createdItems = new HashMap<String, SimDouble>();
/**
* Set/Create the angle of a ligament.
*
* @param ligamentPath json path to the ligament
* @param angle to set the ligament
*/
public void setLigamentAngle(String ligamentPath, float angle) {
ligamentPath = ligamentPath + "/angle";
if (m_device != null) {
if (!m_createdItems.containsKey(ligamentPath)) {
m_createdItems.put(ligamentPath, m_device.createDouble(ligamentPath, false, angle));
}
m_createdItems.get(ligamentPath).set(angle);
}
}
/**
* Set/Create the length of a ligament.
*
* @param ligamentPath json path to the ligament
* @param length to set the ligament
*/
public void setLigamentLength(String ligamentPath, float length) {
ligamentPath = ligamentPath + "/length";
if (m_device != null) {
if (!m_createdItems.containsKey(ligamentPath)) {
m_createdItems.put(ligamentPath, m_device.createDouble(ligamentPath, false, length));
}
m_createdItems.get(ligamentPath).set(length);
}
}
}