AnalogEncoderSim.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 "frc/geometry/Rotation2d.h"
 
namespace frc {
 
class AnalogEncoder;
 
namespace sim {
 
/**
 * Class to control a simulated analog encoder.
 */
class AnalogEncoderSim {
 public:
  /**
   * Constructs from an AnalogEncoder object.
   *
   * @param encoder AnalogEncoder to simulate
   */
  explicit AnalogEncoderSim(const AnalogEncoder& encoder);
 
  /**
   * Set the position using an Rotation2d.
   *
   * @param angle The angle.
   */
  void SetPosition(Rotation2d angle);
 
  /**
   * Set the position of the encoder.
   *
   * @param turns The position.
   */
  void SetTurns(units::turn_t turns);
 
  /**
   * Get the simulated position.
   */
  units::turn_t GetTurns();
 
  /**
   * Get the position as a Rotation2d.
   */
  Rotation2d GetPosition();
 
 private:
  hal::SimDouble m_positionSim;
};
}  // namespace sim
}  // namespace frc