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[wpilib] Add ADXRS450_GyroSim (#2800)

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Closes #2760.
This commit is contained in:
Tyler Veness
2020-10-22 20:40:27 -07:00
committed by GitHub
parent abbf9f01ab
commit fb7b41793b
6 changed files with 159 additions and 2 deletions
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6
wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2015-2020 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. */
@@ -32,7 +32,7 @@ static constexpr int kPIDRegister = 0x0C;
ADXRS450_Gyro::ADXRS450_Gyro() : ADXRS450_Gyro(SPI::kOnboardCS0) {}
ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port)
: m_spi(port), m_simDevice("ADXRS450_Gyro", port) {
: m_spi(port), m_port(port), m_simDevice("ADXRS450_Gyro", port) {
if (m_simDevice) {
m_simAngle = m_simDevice.CreateDouble("Angle", false, 0.0);
m_simRate = m_simDevice.CreateDouble("Rate", false, 0.0);
@@ -123,3 +123,5 @@ void ADXRS450_Gyro::Calibrate() {
m_spi.SetAccumulatorIntegratedCenter(m_spi.GetAccumulatorIntegratedAverage());
m_spi.ResetAccumulator();
}
int ADXRS450_Gyro::GetPort() const { return m_port; }

33
wpilibc/src/main/native/cpp/simulation/ADXRS450_GyroSim.cpp Normal file
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@@ -0,0 +1,33 @@
/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#include "frc/simulation/ADXRS450_GyroSim.h"
#include <wpi/SmallString.h>
#include <wpi/raw_ostream.h>
#include "frc/ADXRS450_Gyro.h"
#include "frc/simulation/SimDeviceSim.h"
using namespace frc::sim;
ADXRS450_GyroSim::ADXRS450_GyroSim(const frc::ADXRS450_Gyro& gyro) {
wpi::SmallString<128> fullname;
wpi::raw_svector_ostream os(fullname);
os << "ADXRS450_Gyro" << '[' << gyro.GetPort() << ']';
frc::sim::SimDeviceSim deviceSim{fullname.c_str()};
m_simAngle = deviceSim.GetDouble("Angle");
m_simRate = deviceSim.GetDouble("Rate");
}
void ADXRS450_GyroSim::SetAngle(units::degree_t angle) {
m_simAngle.Set(angle.to<double>());
}
void ADXRS450_GyroSim::SetRate(units::degrees_per_second_t rate) {
m_simRate.Set(rate.to<double>());
}

8
wpilibc/src/main/native/include/frc/ADXRS450_Gyro.h
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@@ -92,8 +92,16 @@ class ADXRS450_Gyro : public GyroBase {
*/
void Calibrate() override;
/**
* Get the SPI port number.
*
* @return The SPI port number.
*/
int GetPort() const;
private:
SPI m_spi;
SPI::Port m_port;
hal::SimDevice m_simDevice;
hal::SimDouble m_simAngle;

54
wpilibc/src/main/native/include/frc/simulation/ADXRS450_GyroSim.h Normal file
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@@ -0,0 +1,54 @@
/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <hal/SimDevice.h>
#include <units/angle.h>
#include <units/angular_velocity.h>
#include "frc/geometry/Rotation2d.h"
namespace frc {
class ADXRS450_Gyro;
namespace sim {
/**
* Class to control a simulated ADXRS450 gyroscope.
*/
class ADXRS450_GyroSim {
public:
/**
* Constructs from a ADXRS450_Gyro object.
*
* @param gyro ADXRS450_Gyro to simulate
*/
explicit ADXRS450_GyroSim(const ADXRS450_Gyro& gyro);
/**
* Sets the angle.
*
* @param angle The angle (clockwise positive).
*/
void SetAngle(units::degree_t angle);
/**
* Sets the angular rate (clockwise positive).
*
* @param rate The angular rate.
*/
void SetRate(units::degrees_per_second_t rate);
private:
hal::SimDouble m_simAngle;
hal::SimDouble m_simRate;
};
} // namespace sim
} // namespace frc