DutyCycleEncoderSim.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>
 
namespace frc {
 
class DutyCycleEncoder;
 
namespace sim {
 
/**
 * Class to control a simulated duty cycle encoder.
 */
class DutyCycleEncoderSim {
 public:
  /**
   * Constructs from a DutyCycleEncoder object.
   *
   * @param encoder DutyCycleEncoder to simulate
   */
  explicit DutyCycleEncoderSim(const DutyCycleEncoder& encoder);
 
  /**
   * Constructs from a digital input channel.
   *
   * @param channel digital input channel
   */
  explicit DutyCycleEncoderSim(int channel);
 
  /**
   * Get the position in turns.
   *
   * @return The position.
   */
  double Get();
 
  /**
   * Set the position in turns.
   *
   * @param turns The position.
   */
  void Set(units::turn_t turns);
 
  /**
   * Get the distance.
   *
   * @return The distance.
   */
 
  double GetDistance();
 
  /**
   * Set the distance.
   *
   * @param distance The distance.
   */
  void SetDistance(double distance);
 
  /**
   * Get the absolute position.
   *
   * @return The absolute position
   */
  double GetAbsolutePosition();
 
  /**
   * Set the absolute position.
   *
   * @param position The absolute position
   */
  void SetAbsolutePosition(double position);
 
  /**
   * Get the distance per rotation for this encoder.
   *
   * @return The scale factor that will be used to convert rotation to useful
   * units.
   */
  double GetDistancePerRotation();
 
  /**
   * Get if the encoder is connected.
   *
   * @return true if the encoder is connected.
   */
  bool IsConnected();
 
  /**
   * Set if the encoder is connected.
   *
   * @param isConnected Whether or not the sensor is connected.
   */
  void SetConnected(bool isConnected);
 
 private:
  hal::SimDouble m_simPosition;
  hal::SimDouble m_simDistancePerRotation;
  hal::SimDouble m_simAbsolutePosition;
  hal::SimBoolean m_simIsConnected;
};
 
}  // namespace sim
}  // namespace frc