add simulation hints for cancoders

Author: CoolSpy3

src/main/java/org/carlmontrobotics/lib199/sim/MockedCANCoder.java

@@ -1,5 +1,7 @@
 package org.carlmontrobotics.lib199.sim;
 
+import java.util.HashMap;
+
 import com.ctre.phoenix.sensors.CANCoder;
 import com.ctre.phoenix.sensors.CANCoderSimCollection;
 
@@ -13,21 +15,50 @@ public class MockedCANCoder {
 
     public static final double kCANCoderCPR = 4096;
 
+    private static final HashMap<Integer, MockedCANCoder> sims = new HashMap<>();
+
     private int port;
     private SimDevice device;
     private SimDouble position; // Rotations - Continuous
+    private SimDouble motorId;
+    private SimDouble motorType;
+    private SimDouble gearing;
     private CANCoderSimCollection sim;
 
     public MockedCANCoder(CANCoder canCoder) {
         port = canCoder.getDeviceID();
         device = SimDevice.create("CANCoder", port);
         position = device.createDouble("count", Direction.kInput, 0);
+        motorId = device.createDouble("motorId", Direction.kOutput, -1);
+        motorType = device.createDouble("motor", Direction.kOutput, MotorType.NONE.id);
+        gearing = device.createDouble("gearing", Direction.kOutput, 1);
         sim = canCoder.getSimCollection();
         Lib199Subsystem.registerPeriodic(this::update);
+        sims.put(port, this);
     }
 
     public void update() {
         sim.setRawPosition((int) (position.get() * kCANCoderCPR));
     }
 
+    public void linkMotor(int motorId, MotorType motorType, double gearing) {
+        this.motorId.set(motorId);
+        this.motorType.set(motorType.id);
+        this.gearing.set(gearing);
+    }
+
+    public static void linkMotor(int canCoderPort, int motorId, MotorType motorType, double gearing) {
+        if(sims.containsKey(canCoderPort)) sims.get(canCoderPort).linkMotor(motorId, motorType, gearing);
+    }
+
+    public static enum MotorType {
+        NONE(0), TALON(1), VICTOR(2), SPARKMAX(3);
+
+        public final int id;
+
+        private MotorType(int id) {
+            this.id = id;
+        }
+    }
+
 }