More Simulation Support Pt.2

[PepperLola]

Description

Added support for more of the simulation devices supported by WPILib. Also fixed issue with resetting the brain of the robot every time a PWM Output Group was created so it's now possible to have more than one output group.

The aim of this PR is to add support for the most important items in the Hardware Messages section of the WPILib Hardware WS API docs. This does not include CAN motor support, which is being handled in #1050. All planned devices are listed in Objectives and are what I deem to be most important and worthwhile right now, but these could be subject to change and the list is open to suggestions.

Note

It's worth noting that controls are managed entirely by the HALSim GUI. The available USB devices are assigned to ports through the GUI, which are then read and fed to the robot code. The robot code sets motor outputs depending on the controller input, and the motor values are what's actually sent to fission.

Objectives

• Encoder support
• Joystick support through Sim GUI
• Gyroscope and Accelerometer support
• Digital and analog sensor support

Testing Done

• Test driving robot with two different PWM motors
  • Ensure encoders update appropriately

Important

In order for a controller to be appropriately mapped in the Sim GUI, you must enable the checkbox called "Map gamepad" in the Joystick menu. However, this does not appear when running the application on MacOS.

When unchecked, the joystick axes may not be accurate (e.g. the right joystick and L/R trigger axes may be swapped).

When testing, you can uncomment the commented out devices in WPILibBrain.ts. Make sure the inputs are updating appropriately in the simulator. You can see how the inputs are meant to update in in those lines you uncomment, and how the outputs are meant to update in the sample robot code.

synthesis/fission/src/systems/simulation/wpilib_brain/WPILibBrain.ts

Lines 382 to 387 in 18cd843

	// this.addSimInput(new SimGyroInput("Test Gyro[1]", mechanism))
	// this.addSimInput(new SimAccelInput("ADXL362[4]", mechanism))
	// this.addSimInput(new SimDigitalInput("SYN DI[0]", () => Math.random() > 0.5))
	// this.addSimOutput(new SimDigitalOutput("SYN DO[1]"))
	// this.addSimInput(new SimAnalogInput("SYN AI[0]", () => Math.random() * 12))
	// this.addSimOutput(new SimAnalogOutput("SYN AO[1]"))

JIRA Issue

[autodesk-chorus]

Chorus detected one or more security issues with this pull request. See the Checks tab for more details.

As a reminder, please follow the secure code review process as part of the Secure Coding Non-Negotiable requirement.

[HunterBarclay]

Good progress on Simulation. I'll be opening another branch to start working on the UI.