Add position_sensor_sim class.
This currently contains a class capable of simulating an
indexed encoder and a potentiometer with gaussian noise.
This is mostly Philipp's code, with some modifications by me.
Change-Id: I77925f51916934de02eed24f0de8d6ab51626ba2
diff --git a/frc971/control_loops/gaussian_noise.cc b/frc971/control_loops/gaussian_noise.cc
new file mode 100644
index 0000000..c1c8701
--- /dev/null
+++ b/frc971/control_loops/gaussian_noise.cc
@@ -0,0 +1,18 @@
+#include "frc971/control_loops/gaussian_noise.h"
+
+namespace frc971 {
+namespace control_loops {
+
+GaussianNoise::GaussianNoise(unsigned int seed, double stddev)
+ : stddev_(stddev),
+ generator_(seed),
+ distribution_(0.0, 1.0) {
+ // Everything is initialized now.
+}
+
+double GaussianNoise::AddNoiseToSample(double sample) {
+ return sample + (distribution_(generator_) * stddev_);
+}
+
+} // namespace control_loops
+} // namespace frc971