allwpilib/wpilibj/src/main/java/org/wpilib/simulation/SharpIRSim.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package org.wpilib.simulation;

import org.wpilib.hardware.hal.SimDouble;
import org.wpilib.hardware.range.SharpIR;

/** Simulation class for Sharp IR sensors. */
public class SharpIRSim {
  private final SimDouble m_simRange;

  /**
   * Constructor.
   *
   * @param sharpIR The real sensor to simulate
   */
  public SharpIRSim(SharpIR sharpIR) {
    this(sharpIR.getChannel());
  }

  /**
   * Constructor.
   *
   * @param channel Analog channel for this sensor
   */
  public SharpIRSim(int channel) {
    SimDeviceSim simDevice = new SimDeviceSim("SharpIR", channel);
    m_simRange = simDevice.getDouble("Range (m)");
  }

  /**
   * Set the range in meters returned by the distance sensor.
   *
   * @param range range in meters of the target returned by the sensor
   */
  public void setRange(double range) {
    m_simRange.set(range);
  }
}