DetachedEncoderSim.h

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/*
 * Copyright (c) 2025 REV Robotics
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 * modification, are permitted provided that the following conditions are met:
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#pragma once
 
#include <string>
 
#include <hal/SimDevice.h>
 
#include "rev/DetachedEncoder.h"
 
namespace rev::detached {
 
class DetachedEncoderSim {
public:
    explicit DetachedEncoderSim(DetachedEncoder* encoder);
 
    void SetPosition(double position);
    double GetPosition() const;
 
    void SetVelocity(double velocity);
    double GetVelocity() const;
 
    void SetAngle(double angle);
    double GetAngle() const;
 
    void SetRawAngle(double rawAngle);
    double GetRawAngle() const;
 
    void SetInverted(bool inverted);
    bool GetInverted() const;
 
    void SetZeroOffset(double zeroOffset);
    double GetZeroOffset() const;
 
    double GetPositionConversionFactor() const;
    double GetVelocityConversionFactor() const;
 
    void iterate(double velocity, double dt);
 
private:
    hal::SimDouble m_position;
    hal::SimDouble m_velocity;
    hal::SimDouble m_angle;
    hal::SimDouble m_rawAngle;
    hal::SimBoolean m_isInverted;
    hal::SimDouble m_zeroOffset;
    hal::SimDouble m_positionConversionFactor;
    hal::SimDouble m_velocityConversionFactor;
 
    DetachedEncoder* m_encoder;
    std::string simDeviceName;
};
 
}  // namespace rev::detached