mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
2aed432b4b
This makes code easier to read and more consistent between C++ and Java. Also update clang-format settings to always add a line break (even if no braces are used).
77 lines
2.3 KiB
C++
77 lines
2.3 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#include "frc/simulation/AnalogGyroSim.h"
|
|
|
|
#include <memory>
|
|
#include <utility>
|
|
|
|
#include <hal/simulation/AnalogGyroData.h>
|
|
|
|
#include "frc/AnalogGyro.h"
|
|
#include "frc/AnalogInput.h"
|
|
|
|
using namespace frc;
|
|
using namespace frc::sim;
|
|
|
|
AnalogGyroSim::AnalogGyroSim(const AnalogGyro& gyro)
|
|
: m_index{gyro.GetAnalogInput()->GetChannel()} {}
|
|
|
|
AnalogGyroSim::AnalogGyroSim(int channel) : m_index{channel} {}
|
|
|
|
std::unique_ptr<CallbackStore> AnalogGyroSim::RegisterAngleCallback(
|
|
NotifyCallback callback, bool initialNotify) {
|
|
auto store = std::make_unique<CallbackStore>(
|
|
m_index, -1, callback, &HALSIM_CancelAnalogGyroAngleCallback);
|
|
store->SetUid(HALSIM_RegisterAnalogGyroAngleCallback(
|
|
m_index, &CallbackStoreThunk, store.get(), initialNotify));
|
|
return store;
|
|
}
|
|
|
|
double AnalogGyroSim::GetAngle() const {
|
|
return HALSIM_GetAnalogGyroAngle(m_index);
|
|
}
|
|
|
|
void AnalogGyroSim::SetAngle(double angle) {
|
|
HALSIM_SetAnalogGyroAngle(m_index, angle);
|
|
}
|
|
|
|
std::unique_ptr<CallbackStore> AnalogGyroSim::RegisterRateCallback(
|
|
NotifyCallback callback, bool initialNotify) {
|
|
auto store = std::make_unique<CallbackStore>(
|
|
m_index, -1, callback, &HALSIM_CancelAnalogGyroRateCallback);
|
|
store->SetUid(HALSIM_RegisterAnalogGyroRateCallback(
|
|
m_index, &CallbackStoreThunk, store.get(), initialNotify));
|
|
return store;
|
|
}
|
|
|
|
double AnalogGyroSim::GetRate() const {
|
|
return HALSIM_GetAnalogGyroRate(m_index);
|
|
}
|
|
|
|
void AnalogGyroSim::SetRate(double rate) {
|
|
HALSIM_SetAnalogGyroRate(m_index, rate);
|
|
}
|
|
|
|
std::unique_ptr<CallbackStore> AnalogGyroSim::RegisterInitializedCallback(
|
|
NotifyCallback callback, bool initialNotify) {
|
|
auto store = std::make_unique<CallbackStore>(
|
|
m_index, -1, callback, &HALSIM_CancelAnalogGyroInitializedCallback);
|
|
store->SetUid(HALSIM_RegisterAnalogGyroInitializedCallback(
|
|
m_index, &CallbackStoreThunk, store.get(), initialNotify));
|
|
return store;
|
|
}
|
|
|
|
bool AnalogGyroSim::GetInitialized() const {
|
|
return HALSIM_GetAnalogGyroInitialized(m_index);
|
|
}
|
|
|
|
void AnalogGyroSim::SetInitialized(bool initialized) {
|
|
HALSIM_SetAnalogGyroInitialized(m_index, initialized);
|
|
}
|
|
|
|
void AnalogGyroSim::ResetData() {
|
|
HALSIM_ResetAnalogGyroData(m_index);
|
|
}
|