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src/test/java/frc4388/mocks/MockPigeonIMU.java

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.mocks;
+
+import com.ctre.phoenix.ErrorCode;
+import com.ctre.phoenix.sensors.PigeonIMU;
+
+/**
+ * Add your docs here.
+ */
+public class MockPigeonIMU extends PigeonIMU {
+    public int m_deviceNumber;
+    public double currentYaw;
+    public double currentPitch;
+    public double currentRoll;
+
+    public MockPigeonIMU(int deviceNumber) {
+        super(deviceNumber);
+        m_deviceNumber = deviceNumber;
+    }
+
+    @Override
+    public ErrorCode setYaw(double angleDeg) {
+        currentYaw = angleDeg;
+        return ErrorCode.OK;
+    }
+
+    /**
+     * @param currentPitch the Pitch to set
+     */
+    public void setCurrentPitch(double currentPitch) {
+        this.currentPitch = currentPitch;
+    }
+
+    /**
+     * @param currentRoll the Roll to set
+     */
+    public void setCurrentRoll(double currentRoll) {
+        this.currentRoll = currentRoll;
+    }
+
+    @Override
+    public ErrorCode getYawPitchRoll(double[] ypr_deg) {
+        ypr_deg[0] = currentYaw;
+        ypr_deg[1] = currentPitch;
+        ypr_deg[2] = currentRoll;
+        return ErrorCode.OK;
+    }
+}