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25 lines
773 B
C++
25 lines
773 B
C++
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/simulation/UltrasonicSim.h"
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#include "frc/Ultrasonic.h"
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#include "frc/simulation/SimDeviceSim.h"
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using namespace frc::sim;
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UltrasonicSim::UltrasonicSim(const frc::Ultrasonic& ultrasonic) {
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frc::sim::SimDeviceSim deviceSim{"Ultrasonic", ultrasonic.GetEchoChannel()};
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m_simRangeValid = deviceSim.GetBoolean("Range Valid");
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m_simRange = deviceSim.GetDouble("Range (in)");
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}
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void UltrasonicSim::SetRangeValid(bool isValid) {
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m_simRangeValid.Set(isValid);
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}
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void UltrasonicSim::SetRange(units::meter_t range) {
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m_simRange.Set(range.to<double>());
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}
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