SparkAnalogSensorSim.h

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/*
 * Copyright (c) 2024 REV Robotics
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
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 *    contributors may be used to endorse or promote products derived from
 *    this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef FRC_REVLIB_SRC_MAIN_NATIVE_INCLUDE_REV_SIM_SPARKANALOGSENSORSIM_H_
#define FRC_REVLIB_SRC_MAIN_NATIVE_INCLUDE_REV_SIM_SPARKANALOGSENSORSIM_H_
 
#include <string>
 
#include <frc/simulation/SimDeviceSim.h>
#include <hal/SimDevice.h>
 
#include "rev/SparkBase.h"
#include "rev/SparkFlex.h"
#include "rev/SparkMax.h"
 
namespace rev::spark {
 
class SparkAnalogSensorSim {
public:
    explicit SparkAnalogSensorSim(SparkMax* motor);
    explicit SparkAnalogSensorSim(SparkFlex* motor);
 
    void SetVoltage(double voltage);
    double GetVoltage() const;
 
    void SetPosition(double position);
    double GetPosition() const;
 
    void SetVelocity(double velocity);
    double GetVelocity() const;
 
    void SetInverted(bool inverted);
    bool GetInverted() const;
 
    void SetPositionConversionFactor(double positionConversionFactor);
    double GetPositionConversionFactor() const;
 
    void SetVelocityConversionFactor(double velocityConversionFactor);
    double GetVelocityConversionFactor() const;
 
    void iterate(double velocity, double dt);
 
private:
    void SetupSimDevice();
 
    hal::SimDouble m_voltage;
    hal::SimDouble m_position;
    hal::SimDouble m_velocity;
    hal::SimBoolean m_isInverted;
    hal::SimDouble m_positionConversionFactor;
    hal::SimDouble m_velocityConversionFactor;
    SparkBase* m_spark;
    std::string simDeviceName;
};
 
}  // namespace rev::spark
 
#endif  // FRC_REVLIB_SRC_MAIN_NATIVE_INCLUDE_REV_SIM_SPARKANALOGSENSORSIM_H_