mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
43 lines
983 B
C++
43 lines
983 B
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.
|
|
|
|
#pragma once
|
|
|
|
#include <map>
|
|
#include <string>
|
|
|
|
#include <hal/SimDevice.h>
|
|
#include <wpi/StringMap.h>
|
|
|
|
#include "frc/geometry/Pose2d.h"
|
|
#include "frc/geometry/Rotation2d.h"
|
|
|
|
namespace frc {
|
|
class Mechanism2D {
|
|
public:
|
|
Mechanism2D();
|
|
|
|
/**
|
|
* Set/Create the angle of a ligament
|
|
*
|
|
* @param ligamentPath json path to the ligament
|
|
* @param angle to set the ligament
|
|
*/
|
|
void SetLigamentAngle(const wpi::Twine& ligamentPath, float angle);
|
|
|
|
/**
|
|
* Set/Create the length of a ligament
|
|
*
|
|
* @param ligamentPath json path to the ligament
|
|
* @param length to set the ligament
|
|
*/
|
|
void SetLigamentLength(const wpi::Twine& ligamentPath, float length);
|
|
|
|
private:
|
|
wpi::StringMap<hal::SimDouble> createdItems;
|
|
hal::SimDevice m_device;
|
|
};
|
|
|
|
} // namespace frc
|