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9bd9656871
I left "free speed" alone since that's the technical term for it. In general, velocity is a vector quantity, and speed is a magnitude (i.e., a strictly positive value). This PR also replaces the speed verbiage in MotorController with duty cycle. Fixes #8423.
25 lines
788 B
C++
25 lines
788 B
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 "wpi/simulation/PWMMotorControllerSim.hpp"
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#include "wpi/hal/SimDevice.h"
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#include "wpi/simulation/SimDeviceSim.hpp"
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using namespace wpi;
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using namespace wpi::sim;
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PWMMotorControllerSim::PWMMotorControllerSim(
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const PWMMotorController& motorctrl)
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: PWMMotorControllerSim(motorctrl.GetChannel()) {}
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PWMMotorControllerSim::PWMMotorControllerSim(int channel) {
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wpi::sim::SimDeviceSim deviceSim{"PWMMotorController", channel};
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m_simDutyCycle = deviceSim.GetDouble("DutyCycle");
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}
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double PWMMotorControllerSim::GetDutyCycle() const {
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return m_simDutyCycle.Get();
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}
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