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https://github.com/wpilibsuite/allwpilib
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60 lines
1.9 KiB
C++
60 lines
1.9 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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#include "frc/simulation/ADIS16448_IMUSim.h"
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#include <frc/ADIS16448_IMU.h>
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#include <frc/simulation/SimDeviceSim.h>
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using namespace frc::sim;
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ADIS16448_IMUSim::ADIS16448_IMUSim(const frc::ADIS16448_IMU& imu) {
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frc::sim::SimDeviceSim deviceSim{"Gyro:ADIS16448", imu.GetPort()};
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m_simGyroAngleX = deviceSim.GetDouble("gyro_angle_x");
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m_simGyroAngleY = deviceSim.GetDouble("gyro_angle_y");
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m_simGyroAngleZ = deviceSim.GetDouble("gyro_angle_z");
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m_simGyroRateX = deviceSim.GetDouble("gyro_rate_x");
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m_simGyroRateY = deviceSim.GetDouble("gyro_rate_y");
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m_simGyroRateZ = deviceSim.GetDouble("gyro_rate_z");
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m_simAccelX = deviceSim.GetDouble("accel_x");
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m_simAccelY = deviceSim.GetDouble("accel_y");
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m_simAccelZ = deviceSim.GetDouble("accel_z");
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}
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void ADIS16448_IMUSim::SetGyroAngleX(units::degree_t angle) {
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m_simGyroAngleX.Set(angle.value());
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}
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void ADIS16448_IMUSim::SetGyroAngleY(units::degree_t angle) {
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m_simGyroAngleY.Set(angle.value());
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}
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void ADIS16448_IMUSim::SetGyroAngleZ(units::degree_t angle) {
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m_simGyroAngleZ.Set(angle.value());
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}
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void ADIS16448_IMUSim::SetGyroRateX(units::degrees_per_second_t rate) {
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m_simGyroRateX.Set(rate.value());
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}
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void ADIS16448_IMUSim::SetGyroRateY(units::degrees_per_second_t rate) {
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m_simGyroRateY.Set(rate.value());
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}
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void ADIS16448_IMUSim::SetGyroRateZ(units::degrees_per_second_t rate) {
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m_simGyroRateZ.Set(rate.value());
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}
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void ADIS16448_IMUSim::SetAccelX(units::meters_per_second_squared_t accel) {
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m_simAccelX.Set(accel.value() / 9.81);
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}
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void ADIS16448_IMUSim::SetAccelY(units::meters_per_second_squared_t accel) {
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m_simAccelY.Set(accel.value() / 9.81);
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}
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void ADIS16448_IMUSim::SetAccelZ(units::meters_per_second_squared_t accel) {
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m_simAccelZ.Set(accel.value() / 9.81);
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}
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