Add constructor that takes channel number to DutyCycleEncoderSim

wpilibsuite · Feb 19, 2023 · bc60d84 · bc60d84
1 parent ecb0727
commit bc60d84
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Showing 3 changed files with 22 additions and 5 deletions.
diff --git a/wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp b/wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp
@@ -9,9 +9,11 @@
 
 using namespace frc::sim;
 
-DutyCycleEncoderSim::DutyCycleEncoderSim(const frc::DutyCycleEncoder& encoder) {
-  frc::sim::SimDeviceSim deviceSim{"DutyCycle:DutyCycleEncoder",
-                                   encoder.GetSourceChannel()};
+DutyCycleEncoderSim::DutyCycleEncoderSim(const frc::DutyCycleEncoder& encoder)
+    : DutyCycleEncoderSim{encoder.GetSourceChannel()} {}
+
+DutyCycleEncoderSim::DutyCycleEncoderSim(int channel) {
+  frc::sim::SimDeviceSim deviceSim{"DutyCycle:DutyCycleEncoder", channel};
   m_simPosition = deviceSim.GetDouble("position");
   m_simDistancePerRotation = deviceSim.GetDouble("distance_per_rot");
 }

diff --git a/wpilibc/src/main/native/include/frc/simulation/DutyCycleEncoderSim.h b/wpilibc/src/main/native/include/frc/simulation/DutyCycleEncoderSim.h
@@ -25,6 +25,13 @@ class DutyCycleEncoderSim {
    */
   explicit DutyCycleEncoderSim(const DutyCycleEncoder& encoder);
 
+  /**
+   * Constructs from a digital input channel.
+   * 
+   * @param channel digital input channel
+  */
+  explicit DutyCycleEncoderSim(int channel);
+
   /**
    * Set the position tin turns.
    *

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DutyCycleEncoderSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DutyCycleEncoderSim.java
@@ -18,8 +18,16 @@ public class DutyCycleEncoderSim {
    * @param encoder DutyCycleEncoder to simulate
    */
   public DutyCycleEncoderSim(DutyCycleEncoder encoder) {
-    SimDeviceSim wrappedSimDevice =
-        new SimDeviceSim("DutyCycle:DutyCycleEncoder" + "[" + encoder.getSourceChannel() + "]");
+    this(encoder.getSourceChannel());
+  }
+
+  /**
+   * Constructs from a digital input channel.
+   *
+   * @param channel digital input channel.
+   */
+  public DutyCycleEncoderSim(int channel) {
+    SimDeviceSim wrappedSimDevice = new SimDeviceSim("DutyCycle:DutyCycleEncoder", channel);
     m_simPosition = wrappedSimDevice.getDouble("position");
     m_simDistancePerRotation = wrappedSimDevice.getDouble("distance_per_rot");
   }