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https://github.com/wpilibsuite/allwpilib
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46 lines
1.2 KiB
C++
46 lines
1.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 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 <map>
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#include <string>
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#include <hal/SimDevice.h>
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#include <wpi/StringMap.h>
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#include "frc/geometry/Pose2d.h"
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#include "frc/geometry/Rotation2d.h"
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namespace frc {
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class Mechanism2D {
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public:
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Mechanism2D();
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/**
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* Set/Create the angle of a ligament
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*
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* @param ligamentPath json path to the ligament
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* @param angle to set the ligament
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*/
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void SetLigamentAngle(const wpi::Twine& ligamentPath, float angle);
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/**
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* Set/Create the length of a ligament
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*
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* @param ligamentPath json path to the ligament
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* @param length to set the ligament
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*/
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void SetLigamentLength(const wpi::Twine& ligamentPath, float length);
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private:
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wpi::StringMap<hal::SimDouble> createdItems;
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hal::SimDevice m_device;
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};
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} // namespace frc
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