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e2cc9e0059
The HAL will only contain the output period and the raw microseconds. Higher level things such as SimDevice can handle everything else.
27 lines
791 B
C++
27 lines
791 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 "frc/simulation/PWMMotorControllerSim.h"
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#include <hal/SimDevice.h>
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#include <units/length.h>
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#include "frc/simulation/SimDeviceSim.h"
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using namespace frc;
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using namespace frc::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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frc::sim::SimDeviceSim deviceSim{"PWMMotorController", channel};
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m_simSpeed = deviceSim.GetDouble("Speed");
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}
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double PWMMotorControllerSim::GetSpeed() const {
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return m_simSpeed.Get();
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}
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