Pigeon2SimState.hpp

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/*
 * Copyright (C) Cross The Road Electronics.  All rights reserved.
 * License information can be found in CTRE_LICENSE.txt
 * For support and suggestions contact support@ctr-electronics.com or file
 * an issue tracker at https://github.com/CrossTheRoadElec/Phoenix-Releases
 */
#pragma once
 
#include "ctre/phoenix/StatusCodes.h"
#include "ctre/phoenix6/sim/ChassisReference.hpp"
#include <wpi/units/angle.hpp>
#include <wpi/units/angular_velocity.hpp>
#include <wpi/units/voltage.hpp>
 
namespace ctre {
namespace phoenix6 {
 
namespace hardware {
namespace core {
    /* forward proto */
    class CorePigeon2;
}
}
 
namespace sim {
 
    /**
     * \brief Class to control the state of a simulated hardware#Pigeon2.
     */
    class Pigeon2SimState
    {
    private:
        int _id;
 
    public:
        /**
         * \brief Creates an object to control the state of the given hardware#Pigeon2.
         *
         * \details Note the recommended method of accessing simulation features is to
         *          use hardware#Pigeon2#GetSimState.
         *
         * \param device Device to which this simulation state is attached
         */
        Pigeon2SimState(hardware::core::CorePigeon2 const &device);
        /* disallow copy, allow move */
        Pigeon2SimState(Pigeon2SimState const &) = delete;
        Pigeon2SimState(Pigeon2SimState &&) = default;
        Pigeon2SimState &operator=(Pigeon2SimState const &) = delete;
        Pigeon2SimState &operator=(Pigeon2SimState &&) = default;
 
        /**
         * \brief Sets the simulated supply voltage of the Pigeon2.
         *
         * \details The minimum allowed supply voltage is 4 V - values below this
         * will be promoted to 4 V.
         *
         * \param volts The supply voltage in Volts
         * \returns Status code
         */
        ctre::phoenix::StatusCode SetSupplyVoltage(wpi::units::volt_t volts);
 
        /**
         * \brief Sets the simulated raw yaw of the Pigeon2.
         *
         * Inputs to this function over time should be continuous, as user calls of hardware#Pigeon2#SetYaw will be accounted for in the callee.
         *
         * \details The Pigeon2 integrates this to calculate the true reported yaw.
         *
         * When using the WPI Sim GUI, you will notice a readonly `yaw` and settable `rawYawInput`.
         * The readonly signal is the emulated yaw which will match self-test in Tuner and the hardware API.
         * Changes to `rawYawInput` will be integrated into the emulated yaw.
         * This way a simulator can modify the yaw without overriding hardware API calls for home-ing the sensor.
         *
         * \param deg The yaw in degrees
         * \returns Status code
         */
        ctre::phoenix::StatusCode SetRawYaw(wpi::units::degree_t deg);
        /**
         * \brief Adds to the simulated yaw of the Pigeon2.
         *
         * \param dDeg
         *        The change in yaw in degrees
         * \returns Status code
         */
        ctre::phoenix::StatusCode AddYaw(wpi::units::degree_t dDeg);
        /**
         * \brief Sets the simulated pitch of the Pigeon2.
         *
         * \param deg The pitch in degrees
         * \returns Status code
         */
        ctre::phoenix::StatusCode SetPitch(wpi::units::degree_t deg);
        /**
         * \brief Sets the simulated roll of the Pigeon2.
         *
         * \param deg
         *        The roll in degrees
         * \returns Status code
         */
        ctre::phoenix::StatusCode SetRoll(wpi::units::degree_t deg);
 
        /**
         * \brief Sets the simulated angular velocity X component of the Pigeon2.
         *
         * \param dps The X component of the angular velocity in degrees per second
         * \returns Status code
         */
        ctre::phoenix::StatusCode SetAngularVelocityX(wpi::units::degrees_per_second_t dps);
        /**
         * \brief Sets the simulated angular velocity Y component of the Pigeon2.
         *
         * \param dps The Y component of the angular velocity in degrees per second
         * \returns Status code
         */
        ctre::phoenix::StatusCode SetAngularVelocityY(wpi::units::degrees_per_second_t dps);
        /**
         * \brief Sets the simulated angular velocity Z component of the Pigeon2.
         *
         * \param dps The Z component of the angular velocity in degrees per second
         * \returns Status code
         */
        ctre::phoenix::StatusCode SetAngularVelocityZ(wpi::units::degrees_per_second_t dps);
    };
 
}
 
}
}