add simulation support for CANCoders

Author: CoolSpy3

src/main/java/frc/robot/lib/MotorControllerFactory.java

@@ -10,6 +10,7 @@
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
+import com.ctre.phoenix.sensors.CANCoder;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMax.ExternalFollower;
 import com.revrobotics.CANSparkMax.IdleMode;
@@ -21,6 +22,7 @@
 import frc.robot.lib.sim.MockSparkMax;
 import frc.robot.lib.sim.MockTalonSRX;
 import frc.robot.lib.sim.MockVictorSPX;
+import frc.robot.lib.sim.MockedCANCoder;
 
 /**
  * Add your docs here.
@@ -108,4 +110,10 @@ public static CANSparkMax createSparkMax(int id, int temperatureLimit) {
 
     return spark;
   }
+
+  public static CANCoder createCANCoder(int port) {
+    CANCoder canCoder = new CANCoder(port);
+    if(RobotBase.isSimulation()) new MockedCANCoder(canCoder);
+    return canCoder;
+  }
 }

src/main/java/frc/robot/lib/sim/MockedCANCoder.java

@@ -0,0 +1,32 @@
+package frc.robot.lib.sim;
+
+import com.ctre.phoenix.sensors.CANCoder;
+import com.ctre.phoenix.sensors.CANCoderSimCollection;
+
+import edu.wpi.first.hal.SimDevice;
+import edu.wpi.first.hal.SimDevice.Direction;
+import frc.robot.lib.Lib199Subsystem;
+import edu.wpi.first.hal.SimDouble;
+
+public class MockedCANCoder {
+
+    public static final double kCANCoderCPR = 4096;
+
+    private int port;
+    private SimDevice device;
+    private SimDouble position; // Rotations - Continuous
+    private CANCoderSimCollection sim;
+
+    public MockedCANCoder(CANCoder canCoder) {
+        port = canCoder.getDeviceID();
+        device = SimDevice.create("CANCoder", port);
+        position = device.createDouble("count", Direction.kInput, 0);
+        sim = canCoder.getSimCollection();
+        Lib199Subsystem.registerPeriodic(this::update);
+    }
+
+    public void update() {
+        sim.setRawPosition((int) (position.get() * kCANCoderCPR));
+    }
+
+}