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https://github.com/wpilibsuite/allwpilib
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3cd1253977
Years update, references to WIND_BASE were removed, and WPILib license was moved to the root directory of the project. If there was already a comment block, a year range through 2016 was created using the first year in the comment. If there was no comment block, a block with just the year 2016 was added. Comments were not added to files from external sources (NI, CTRE). Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
39 lines
1.1 KiB
C++
39 lines
1.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2016. 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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#ifndef _SIM_ENCODER_H
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#define _SIM_ENCODER_H
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#include "simulation/gz_msgs/msgs.h"
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#include <gazebo/transport/transport.hh>
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#include <gazebo/common/Time.hh>
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using namespace gazebo;
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class SimEncoder {
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public:
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SimEncoder(std::string topic);
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void Reset();
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void Start();
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void Stop();
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double GetPosition();
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double GetVelocity();
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private:
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void sendCommand(std::string cmd);
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double position, velocity;
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transport::SubscriberPtr posSub, velSub;
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transport::PublisherPtr commandPub;
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void positionCallback(const msgs::ConstFloat64Ptr &msg);
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void velocityCallback(const msgs::ConstFloat64Ptr &msg);
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};
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#endif
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