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Add constructor that takes channel number to DutyCycleEncoderSim #5118

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merged 2 commits into from
Feb 20, 2023
Merged

Add constructor that takes channel number to DutyCycleEncoderSim #5118

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45a6577
Add constructor that takes channel number to DutyCycleEncoderSim
rzblue Feb 19, 2023
9961a4e
fix typo in docs
rzblue Feb 19, 2023
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8 changes: 5 additions & 3 deletions wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -9,9 +9,11 @@

using namespace frc::sim;

DutyCycleEncoderSim::DutyCycleEncoderSim(const frc::DutyCycleEncoder& encoder) {
frc::sim::SimDeviceSim deviceSim{"DutyCycle:DutyCycleEncoder",
encoder.GetSourceChannel()};
DutyCycleEncoderSim::DutyCycleEncoderSim(const frc::DutyCycleEncoder& encoder)
: DutyCycleEncoderSim{encoder.GetSourceChannel()} {}

DutyCycleEncoderSim::DutyCycleEncoderSim(int channel) {
frc::sim::SimDeviceSim deviceSim{"DutyCycle:DutyCycleEncoder", channel};
m_simPosition = deviceSim.GetDouble("position");
m_simDistancePerRotation = deviceSim.GetDouble("distance_per_rot");
}
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9 changes: 8 additions & 1 deletion wpilibc/src/main/native/include/frc/simulation/DutyCycleEncoderSim.h
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Expand Up @@ -26,7 +26,14 @@ class DutyCycleEncoderSim {
explicit DutyCycleEncoderSim(const DutyCycleEncoder& encoder);

/**
* Set the position tin turns.
* Constructs from a digital input channel.
*
* @param channel digital input channel
*/
explicit DutyCycleEncoderSim(int channel);

/**
* Set the position in turns.
*
* @param turns The position.
*/
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12 changes: 10 additions & 2 deletions wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DutyCycleEncoderSim.java
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Expand Up @@ -18,8 +18,16 @@ public class DutyCycleEncoderSim {
* @param encoder DutyCycleEncoder to simulate
*/
public DutyCycleEncoderSim(DutyCycleEncoder encoder) {
SimDeviceSim wrappedSimDevice =
new SimDeviceSim("DutyCycle:DutyCycleEncoder" + "[" + encoder.getSourceChannel() + "]");
this(encoder.getSourceChannel());
}

/**
* Constructs from a digital input channel.
*
* @param channel digital input channel.
*/
public DutyCycleEncoderSim(int channel) {
SimDeviceSim wrappedSimDevice = new SimDeviceSim("DutyCycle:DutyCycleEncoder", channel);
m_simPosition = wrappedSimDevice.getDouble("position");
m_simDistancePerRotation = wrappedSimDevice.getDouble("distance_per_rot");
}
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