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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>
namespace frc {
class DutyCycleEncoder;
namespace sim {
/**
* Class to control a simulated duty cycle encoder.
*/
class DutyCycleEncoderSim {
public:
/**
* Constructs from a DutyCycleEncoder object.
*
* @param encoder DutyCycleEncoder to simulate
*/
explicit DutyCycleEncoderSim(const DutyCycleEncoder& encoder);
/**
* Constructs from a digital input channel.
*
* @param channel digital input channel
*/
explicit DutyCycleEncoderSim(int channel);
/**
* Get the position.
*
* @return The position.
*/
double Get();
/**
* Set the position.
*
* @param value The position.
*/
void Set(double value);
/**
* Get if the encoder is connected.
*
* @return true if the encoder is connected.
*/
bool IsConnected();
/**
* Set if the encoder is connected.
*
* @param isConnected Whether or not the sensor is connected.
*/
void SetConnected(bool isConnected);
private:
hal::SimDouble m_simPosition;
hal::SimBoolean m_simIsConnected;
};
} // namespace sim
} // namespace frc