[wpilib] Add ADXRS450_GyroSim (#2800)

Closes #2760.

wpilibc/src/main/native/include/frc/simulation/ADXRS450_GyroSim.h

@@ -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