[hal, wpilib] PWM Rewrite (#7845)

The HAL will only contain the output period and the raw microseconds. Higher level things such as SimDevice can handle everything else.

wpilibc/src/main/native/cpp/simulation/PWMMotorControllerSim.cpp

@@ -0,0 +1,26 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/simulation/PWMMotorControllerSim.h"
+
+#include <hal/SimDevice.h>
+#include <units/length.h>
+
+#include "frc/simulation/SimDeviceSim.h"
+
+using namespace frc;
+using namespace frc::sim;
+
+PWMMotorControllerSim::PWMMotorControllerSim(
+    const PWMMotorController& motorctrl)
+    : PWMMotorControllerSim(motorctrl.GetChannel()) {}
+
+PWMMotorControllerSim::PWMMotorControllerSim(int channel) {
+  frc::sim::SimDeviceSim deviceSim{"PWMMotorController", channel};
+  m_simSpeed = deviceSim.GetDouble("Speed");
+}
+
+double PWMMotorControllerSim::GetSpeed() const {
+  return m_simSpeed.Get();
+}