Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Add ADXRS450_GyroSim (#2800)

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

33
wpilibc/src/main/native/cpp/simulation/ADXRS450_GyroSim.cpp Normal file
View File

@@ -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>());
}