mirror of
https://github.com/wpilibsuite/allwpilib
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78 lines
2.6 KiB
C++
78 lines
2.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc/simulation/AnalogGyroSim.h"
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#include <memory>
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#include <utility>
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#include <hal/simulation/AnalogGyroData.h>
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#include "frc/AnalogGyro.h"
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#include "frc/AnalogInput.h"
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using namespace frc;
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using namespace frc::sim;
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AnalogGyroSim::AnalogGyroSim(const AnalogGyro& gyro)
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: m_index{gyro.GetAnalogInput()->GetChannel()} {}
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AnalogGyroSim::AnalogGyroSim(int channel) : m_index{channel} {}
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std::unique_ptr<CallbackStore> AnalogGyroSim::RegisterAngleCallback(
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NotifyCallback callback, bool initialNotify) {
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auto store = std::make_unique<CallbackStore>(
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m_index, -1, callback, &HALSIM_CancelAnalogGyroAngleCallback);
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store->SetUid(HALSIM_RegisterAnalogGyroAngleCallback(
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m_index, &CallbackStoreThunk, store.get(), initialNotify));
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return store;
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}
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double AnalogGyroSim::GetAngle() const {
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return HALSIM_GetAnalogGyroAngle(m_index);
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}
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void AnalogGyroSim::SetAngle(double angle) {
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HALSIM_SetAnalogGyroAngle(m_index, angle);
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}
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std::unique_ptr<CallbackStore> AnalogGyroSim::RegisterRateCallback(
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NotifyCallback callback, bool initialNotify) {
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auto store = std::make_unique<CallbackStore>(
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m_index, -1, callback, &HALSIM_CancelAnalogGyroRateCallback);
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store->SetUid(HALSIM_RegisterAnalogGyroRateCallback(
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m_index, &CallbackStoreThunk, store.get(), initialNotify));
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return store;
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}
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double AnalogGyroSim::GetRate() const {
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return HALSIM_GetAnalogGyroRate(m_index);
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}
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void AnalogGyroSim::SetRate(double rate) {
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HALSIM_SetAnalogGyroRate(m_index, rate);
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}
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std::unique_ptr<CallbackStore> AnalogGyroSim::RegisterInitializedCallback(
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NotifyCallback callback, bool initialNotify) {
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auto store = std::make_unique<CallbackStore>(
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m_index, -1, callback, &HALSIM_CancelAnalogGyroInitializedCallback);
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store->SetUid(HALSIM_RegisterAnalogGyroInitializedCallback(
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m_index, &CallbackStoreThunk, store.get(), initialNotify));
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return store;
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}
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bool AnalogGyroSim::GetInitialized() const {
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return HALSIM_GetAnalogGyroInitialized(m_index);
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}
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void AnalogGyroSim::SetInitialized(bool initialized) {
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HALSIM_SetAnalogGyroInitialized(m_index, initialized);
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}
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void AnalogGyroSim::ResetData() { HALSIM_ResetAnalogGyroData(m_index); }
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