mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
29d029fa61
verified to work on real robots adds sim eclipse plugins, fixed JavaGazebo, made wpilibC++Sim build on windows - Java and C++ simulation robot programs run on windows - simulation eclipse plugin delivers models and gazebo plugins - Java Gazebo now respects GAZEBO_IP variables and can work across networks - hal and network tables win32 hacked to work on windows - smart dashboard broken on windows due to network tables hacks - wpilibC++Sim, gz_msgs, and frcsim_gazebo_plugins build with CMake - removed constexpr for cross platform compatibility - msgs generated using .protos as a part of build process - some spare and unused cmake/pom files deleted - simulation ubuntu debians removed entirely - refactored CMake project flags and macros - updated to match non-sim C++ API - fixed and updated documentation - servo added to simulation Change-Id: Ia702ff0f1fee10d77f543810ad88f56696443b05
30 lines
567 B
C++
30 lines
567 B
C++
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#ifndef _SIM_GYRO_H
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#define _SIM_GYRO_H
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#include "simulation/gz_msgs/msgs.h"
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#include <gazebo/transport/transport.hh>
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using namespace gazebo;
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class SimGyro {
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public:
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SimGyro(std::string topic);
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void Reset();
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double GetAngle();
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double GetVelocity();
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private:
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void sendCommand(std::string cmd);
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double position, velocity;
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transport::SubscriberPtr posSub, velSub;
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transport::PublisherPtr commandPub;
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void positionCallback(const msgs::ConstFloat64Ptr &msg);
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void velocityCallback(const msgs::ConstFloat64Ptr &msg);
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};
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#endif
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