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9c3b51ca0f
- Remove sim checkstyle suppression - Add [[nodiscard]] to C++ register callback functions - Add a couple of missing sim functions Co-authored-by: Peter Johnson <johnson.peter@gmail.com> Co-authored-by: Starlight220 <yotamshlomi@gmail.com>
59 lines
1.1 KiB
C++
59 lines
1.1 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/angle.h>
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#include "frc/geometry/Rotation2d.h"
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namespace frc {
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class AnalogEncoder;
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namespace sim {
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/**
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* Class to control a simulated analog encoder.
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*/
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class AnalogEncoderSim {
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public:
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/**
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* Constructs from an AnalogEncoder object.
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*
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* @param encoder AnalogEncoder to simulate
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*/
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explicit AnalogEncoderSim(const AnalogEncoder& encoder);
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/**
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* Set the position using an Rotation2d.
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*
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* @param angle The angle.
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*/
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void SetPosition(Rotation2d angle);
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/**
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* Set the position of the encoder.
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*
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* @param turns The position.
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*/
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void SetTurns(units::turn_t turns);
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/**
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* Get the simulated position.
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*/
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units::turn_t GetTurns();
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/**
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* Get the position as a Rotation2d.
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*/
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Rotation2d GetPosition();
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private:
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hal::SimDouble m_positionSim;
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};
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} // namespace sim
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} // namespace frc
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