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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>
#include <units/angular_velocity.h>
#include "frc/geometry/Rotation2d.h"
namespace frc {
class ADXRS450_Gyro;
namespace sim {
/**
* Class to control a simulated ADXRS450 gyroscope.
*/
class ADXRS450_GyroSim {
public:
/**
* Constructs from a ADXRS450_Gyro object.
*
* @param gyro ADXRS450_Gyro to simulate
*/
explicit ADXRS450_GyroSim(const ADXRS450_Gyro& gyro);
/**
* Sets the angle.
*
* @param angle The angle (clockwise positive).
*/
void SetAngle(units::degree_t angle);
/**
* Sets the angular rate (clockwise positive).
*
* @param rate The angular rate.
*/
void SetRate(units::degrees_per_second_t rate);
private:
hal::SimDouble m_simAngle;
hal::SimDouble m_simRate;
};
} // namespace sim
} // namespace frc