[wpilib] Add ADXRS450_GyroSim (#2800)

Closes #2760.

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java

@@ -45,6 +45,7 @@ public class ADXRS450_Gyro extends GyroBase implements Gyro, PIDSource, Sendable
   private static final int kSNLowRegister = 0x10;
 
   private SPI m_spi;
+  private SPI.Port m_port;
 
   private SimDevice m_simDevice;
   private SimBoolean m_simConnected;
@@ -65,6 +66,7 @@ public class ADXRS450_Gyro extends GyroBase implements Gyro, PIDSource, Sendable
    */
   public ADXRS450_Gyro(SPI.Port port) {
     m_spi = new SPI(port);
+    m_port = port;
 
     // simulation
     m_simDevice = SimDevice.create("ADXRS450_Gyro", port.value);
@@ -129,6 +131,15 @@ public class ADXRS450_Gyro extends GyroBase implements Gyro, PIDSource, Sendable
     m_spi.resetAccumulator();
   }
 
+  /**
+   * Get the SPI port number.
+   *
+   * @return The SPI port number.
+   */
+  public int getPort() {
+    return m_port.value;
+  }
+
   private boolean calcParity(int value) {
     boolean parity = false;
     while (value != 0) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADXRS450_GyroSim.java

@@ -0,0 +1,49 @@
+/*----------------------------------------------------------------------------*/
+/* 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.SimDouble;
+import edu.wpi.first.wpilibj.ADXRS450_Gyro;
+
+/**
+ * Class to control a simulated ADXRS450 gyroscope.
+ */
+@SuppressWarnings("TypeName")
+public class ADXRS450_GyroSim {
+  private final SimDouble m_simAngle;
+  private final SimDouble m_simRate;
+
+  /**
+   * Constructs from an ADXRS450_Gyro object.
+   *
+   * @param gyro ADXRS450_Gyro to simulate
+   */
+  public ADXRS450_GyroSim(ADXRS450_Gyro gyro) {
+    SimDeviceSim wrappedSimDevice = new SimDeviceSim("ADXRS450_Gyro" + "[" + gyro.getPort() + "]");
+    m_simAngle = wrappedSimDevice.getDouble("Angle");
+    m_simRate = wrappedSimDevice.getDouble("Rate");
+  }
+
+  /**
+   * Sets the angle in degrees (clockwise positive).
+   *
+   * @param angleDegrees The angle.
+   */
+  public void setAngle(double angleDegrees) {
+    m_simAngle.set(angleDegrees);
+  }
+
+  /**
+   * Sets the angular rate in degrees per second (clockwise positive).
+   *
+   * @param rateDegreesPerSecond The angular rate.
+   */
+  public void setRate(double rateDegreesPerSecond) {
+    m_simRate.set(rateDegreesPerSecond);
+  }
+}