SparkExternalEncoderSim.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:
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 *    this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
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 *    contributors may be used to endorse or promote products derived from
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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_SPARKEXTERNALENCODERSIM_H_
#define FRC_REVLIB_SRC_MAIN_NATIVE_INCLUDE_REV_SIM_SPARKEXTERNALENCODERSIM_H_
 
#include <string>
 
#include <frc/simulation/SimDeviceSim.h>
#include <hal/SimDevice.h>
 
#include "rev/SparkBase.h"
#include "rev/SparkFlex.h"
 
namespace rev::spark {
 
class SparkExternalEncoderSim {
public:
    explicit SparkExternalEncoderSim(SparkFlex* motor);
 
    void SetPosition(double position);
    double GetPosition() const;
 
    void SetVelocity(double velocity);
    double GetVelocity() const;
 
    void SetInverted(bool inverted);
    bool GetInverted() const;
 
    void SetZeroOffset(double zeroOffset);
    double GetZeroOffset() 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_position;
    hal::SimDouble m_velocity;
    hal::SimBoolean m_isInverted;
    hal::SimDouble m_zeroOffset;
    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_SPARKEXTERNALENCODERSIM_H_