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https://github.com/wpilibsuite/allwpilib
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83 lines
1.7 KiB
C++
83 lines
1.7 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <hal/SimDevice.h>
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#include <units/acceleration.h>
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#include <units/angle.h>
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#include <units/angular_velocity.h>
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namespace frc {
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class ADIS16448_IMU;
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namespace sim {
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/**
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* Class to control a simulated ADIS16448 IMU.
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*/
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class ADIS16448_IMUSim {
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public:
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/**
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* Constructs from a ADIS16448_IMU object.
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*
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* @param imu ADIS16448_IMU to simulate
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*/
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explicit ADIS16448_IMUSim(const ADIS16448_IMU& imu);
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/**
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* Sets the X axis angle (CCW positive).
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*
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* @param angle The angle.
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*/
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void SetGyroAngleX(units::degree_t angle);
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/**
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* Sets the Y axis angle (CCW positive).
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*
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* @param angle The angle.
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*/
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void SetGyroAngleY(units::degree_t angle);
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/**
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* Sets the Z axis angle (CCW positive).
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*
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* @param angle The angle.
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*/
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void SetGyroAngleZ(units::degree_t angle);
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/**
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* Sets the X axis acceleration.
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*
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* @param accel The acceleration.
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*/
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void SetAccelX(units::meters_per_second_squared_t accel);
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/**
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* Sets the Y axis acceleration.
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*
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* @param accel The acceleration.
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*/
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void SetAccelY(units::meters_per_second_squared_t accel);
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/**
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* Sets the Z axis acceleration.
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*
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* @param accel The acceleration.
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*/
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void SetAccelZ(units::meters_per_second_squared_t accel);
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private:
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hal::SimDouble m_simGyroAngleX;
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hal::SimDouble m_simGyroAngleY;
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hal::SimDouble m_simGyroAngleZ;
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hal::SimDouble m_simAccelX;
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hal::SimDouble m_simAccelY;
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hal::SimDouble m_simAccelZ;
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};
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} // namespace sim
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} // namespace frc
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