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https://github.com/wpilibsuite/allwpilib
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60 lines
1.4 KiB
C++
60 lines
1.4 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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#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 analogInput AnalogEncoder to simulate
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*/
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explicit AnalogEncoderSim(const AnalogEncoder& analogEncoder);
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/**
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* Set the position using an {@link Rotation2d}.
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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 {@link 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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