Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibc/sim/src/simulation/SimContinuousOutput.cpp b/wpilibc/sim/src/simulation/SimContinuousOutput.cpp
new file mode 100644
index 0000000..9a907cf
--- /dev/null
+++ b/wpilibc/sim/src/simulation/SimContinuousOutput.cpp
@@ -0,0 +1,25 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014-2017. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "simulation/SimContinuousOutput.h"
+
+#include "simulation/MainNode.h"
+
+using namespace frc;
+
+SimContinuousOutput::SimContinuousOutput(std::string topic) {
+ pub = MainNode::Advertise<gazebo::msgs::Float64>("~/simulator/" + topic);
+ std::cout << "Initialized ~/simulator/" + topic << std::endl;
+}
+
+void SimContinuousOutput::Set(double speed) {
+ gazebo::msgs::Float64 msg;
+ msg.set_data(speed);
+ pub->Publish(msg);
+}
+
+double SimContinuousOutput::Get() { return speed; }