Add phoenix6 pigeon simulator

settings.gradle

@@ -16,3 +16,5 @@ include 'examples:test_robot_phoenix5_swerve'
 include 'examples:test_robot_rev'
 include 'examples:test_robot_rev_swerve'
 include 'examples:test_robot_wpi'
+include 'snobot_sim_java_phoenix6'
+

snobot_sim_java_phoenix6/build.gradle

@@ -0,0 +1,39 @@
+plugins {
+    id 'java'
+    id 'maven-publish'
+    id 'edu.wpi.first.WpilibTools' version '1.1.0'
+}
+
+group 'org.snobotv2'
+
+ext {
+    baseId = "snobot_sim_java_phoenix6"
+}
+
+sourceCompatibility = JavaVersion.VERSION_17
+targetCompatibility = JavaVersion.VERSION_17
+
+apply from: "${rootDir}/build_scripts/base_java.gradle"
+
+dependencies {
+
+    implementation wpilibTools.deps.wpilibJava("wpilibj")
+    implementation wpilibTools.deps.wpilibJava("hal")
+    implementation wpilibTools.deps.wpilibJava("wpiutil")
+    implementation wpilibTools.deps.wpilibJava("wpimath")
+    implementation wpilibTools.deps.wpilibJava("wpiunits")
+    implementation wpilibTools.deps.wpilibJava("ntcore")
+    implementation wpilibTools.deps.wpilibJava("wpilibNewCommands")
+    implementation project(":snobot_sim_java_base")
+
+
+    implementation "com.ctre.phoenix6:wpiapi-java:${phoenix6Version}"
+
+    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
+    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
+    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
+
+    testImplementation project(":snobot_sim_java_test_utils")
+}
+
+apply from: "${rootDir}/build_scripts/base_java_publish.gradle"

snobot_sim_java_phoenix6/src/main/java/org/snobotv2/module_wrappers/phoenix6/BUILD.bazel

@@ -0,0 +1,12 @@
+load("//build_scripts/bazel:java_rules.bzl", "snobot_sim_java_library")
+
+snobot_sim_java_library(
+    name = "phoenix6",
+    srcs = glob(["*.java"]),
+    visibility = ["//visibility:public"],
+    deps = [
+        "//snobot_sim_java_base/src/main/java/org/snobotv2/module_wrappers",
+        "@bzlmodrio-allwpilib//libraries/java/wpilibj",
+        "@bzlmodrio-phoenix6//libraries/java/wpiapi-java",
+    ],
+)

snobot_sim_java_phoenix6/src/main/java/org/snobotv2/module_wrappers/phoenix6/Pigeon2Wrapper.java

@@ -0,0 +1,13 @@
+package org.snobotv2.module_wrappers.phoenix6;
+
+import com.ctre.phoenix6.hardware.Pigeon2;
+import org.snobotv2.module_wrappers.BaseGyroWrapper;
+
+@SuppressWarnings("removal")
+public class Pigeon2Wrapper extends BaseGyroWrapper
+{
+    public Pigeon2Wrapper(Pigeon2 pigeon)
+    {
+        super((double angle) -> pigeon.getSimState().setRawYaw(-angle));
+    }
+}

snobot_sim_java_phoenix6/src/test/java/org/snobotv2/module_wrappers/phoenix6/BUILD.bazel

@@ -0,0 +1,13 @@
+load("//build_scripts/bazel:java_rules.bzl", "snobot_sim_java_test")
+
+snobot_sim_java_test(
+    name = "test",
+    srcs = glob(["*.java"]),
+    deps = [
+        "//snobot_sim_java_base/src/main/java/org/snobotv2/interfaces",
+        "//snobot_sim_java_phoenix6/src/main/java/org/snobotv2/module_wrappers/phoenix6",
+        "//snobot_sim_java_test_utils/src/main/java/org/snobotv2/test_utils",
+        "@bzlmodrio-allwpilib//libraries/java/hal",
+        "@bzlmodrio-phoenix6//libraries/java/wpiapi-java",
+    ],
+)

snobot_sim_java_phoenix6/src/test/java/org/snobotv2/module_wrappers/phoenix6/BasePhoenix6UnitTest.java

@@ -0,0 +1,21 @@
+package org.snobotv2.module_wrappers.phoenix6;
+
+import edu.wpi.first.hal.HAL;
+import org.snobotv2.test_utils.BaseUnitTest;
+
+public class BasePhoenix6UnitTest extends BaseUnitTest
+{
+    protected void ctreSimLoop()
+    {
+        HAL.simPeriodicBefore();
+        HAL.simPeriodicAfter();
+
+        try
+        {
+            Thread.sleep(20);
+        } catch (InterruptedException e)
+        {
+            e.printStackTrace(); // NOPMD
+        }
+    }
+}

snobot_sim_java_phoenix6/src/test/java/org/snobotv2/module_wrappers/phoenix6/TestPigeon2.java

@@ -0,0 +1,40 @@
+package org.snobotv2.module_wrappers.phoenix6;
+
+import com.ctre.phoenix6.hardware.Pigeon2;
+import org.junit.jupiter.api.Test;
+import org.snobotv2.interfaces.IGyroWrapper;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+@SuppressWarnings("removal")
+public class TestPigeon2 extends BasePhoenix6UnitTest
+{
+    private static final double PIGEON_EPSILON = 1e-2;
+
+    @Test
+    public void testBasicInline()
+    {
+        try (Pigeon2 pigeon = new Pigeon2(3))
+        {
+            pigeon.reset();
+            ctreSimLoop();
+
+            runTests(pigeon);
+        }
+    }
+
+    private void runTests(Pigeon2 pigeon)
+    {
+        IGyroWrapper wrapper = new Pigeon2Wrapper(pigeon);
+
+        assertEquals(0, pigeon.getAngle(), PIGEON_EPSILON);
+
+        wrapper.setAngle(20);
+        ctreSimLoop();
+        assertEquals(20, pigeon.getAngle(), PIGEON_EPSILON);
+
+        wrapper.setAngle(-43.2);
+        ctreSimLoop();
+        assertEquals(-43.2, pigeon.getAngle(), PIGEON_EPSILON);
+    }
+}

snobotsim_vendordep_template.json

@@ -22,6 +22,11 @@
       "artifactId": "snobot_sim_java_phoenix5",
       "version": "$VERSION"
     },
+    {
+      "groupId": "org.snobotv2",
+      "artifactId": "snobot_sim_java_phoenix6",
+      "version": "$VERSION"
+    },
     {
       "groupId": "org.snobotv2",
       "artifactId": "snobot_sim_java_revlib",