Add accelerometer implementation

Author: ryanzhangofficial

simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/Accel.java

@@ -0,0 +1,80 @@
+package com.autodesk.synthesis;
+
+import edu.wpi.first.hal.SimBoolean;
+import edu.wpi.first.hal.SimDevice;
+import edu.wpi.first.hal.SimDevice.Direction;
+import edu.wpi.first.hal.SimDouble;
+
+/**
+ * Accelerometer class for easy implementation of documentation-compliant simulation data.
+ * 
+ * See https://github.com/wpilibsuite/allwpilib/blob/6478ba6e3fa317ee041b8a41e562d925602b6ea4/simulation/halsim_ws_core/doc/hardware_ws_api.md
+ * for documentation on the WebSocket API Specification.
+ */
+public class Accel {
+    private SimDevice m_device;
+    private SimDouble m_range;
+    private SimBoolean m_connected;
+    private SimDouble m_x, m_y, m_z;
+
+    /**
+     * Creates a CANMotor sim device in accordance with the WebSocket API Specification.
+     * 
+     * @param name Name of the Accel. This is generally the class name of the originating gyro (i.e. "ADXRS450").
+     * @param deviceId ID of the Gyro.
+     */
+    public Accel(String name, int deviceId) {
+        m_device = SimDevice.create("Accel:" + name, deviceId);
+
+        m_range = m_device.createDouble("range", Direction.kOutput, 0.0);
+        m_connected = m_device.createBoolean("connected", Direction.kOutput, false);
+        m_x = m_device.createDouble("x", Direction.kInput, 0);
+        m_y = m_device.createDouble("y", Direction.kInput, 0);
+        m_z = m_device.createDouble("z", Direction.kInput, 0);
+    }
+
+    /**
+     * Set the range of the accel.
+     *
+     * @param range Range of the accel
+     */
+    public void setRange(double range) {
+        if (Double.isNaN(range) || Double.isInfinite(range)) {
+            range = 0.0;
+        }
+
+        m_range.set(range);
+    }
+
+    public void setConnected(boolean connected) {
+        m_connected.set(connected);
+    }
+
+    /**
+     * Get the x position of the accel.
+     *
+     * @return x
+     */
+    public double getX() {
+        return m_x.get();
+    }
+
+    /**
+     * Get the y position of the accel.
+     *
+     * @return y
+     */
+    public double getY() {
+        return m_y.get();
+    }
+
+    /**
+     * Get the z position of the accel.
+     *
+     * @return z
+     */
+    public double getZ() {
+        return m_z.get();
+    }
+
+}