ADXRS450_GyroSim.h

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// 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 <hal/SimDevice.h>
#include <units/angle.h>
#include <units/angular_velocity.h>
 
#include "frc/geometry/Rotation2d.h"
 
namespace frc {
 
class ADXRS450_Gyro;
 
namespace sim {
 
/**
 * Class to control a simulated ADXRS450 gyroscope.
 */
class ADXRS450_GyroSim {
 public:
  /**
   * Constructs from a ADXRS450_Gyro object.
   *
   * @param gyro ADXRS450_Gyro to simulate
   */
  explicit ADXRS450_GyroSim(const ADXRS450_Gyro& gyro);
 
  /**
   * Sets the angle.
   *
   * @param angle The angle (clockwise positive).
   */
  void SetAngle(units::degree_t angle);
 
  /**
   * Sets the angular rate (clockwise positive).
   *
   * @param rate The angular rate.
   */
  void SetRate(units::degrees_per_second_t rate);
 
 private:
  hal::SimDouble m_simAngle;
  hal::SimDouble m_simRate;
};
 
}  // namespace sim
}  // namespace frc