[xrp] Add Reflectance sensor and rangefinder classes (#5673)

Co-authored-by: Tyler Veness <calcmogul@gmail.com>

xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPRangefinder.java

@@ -0,0 +1,31 @@
+// 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 edu.wpi.first.wpilibj.xrp;
+
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.AnalogInput;
+
+/** This class represents the ultrasonic rangefinder on an XRP robot. */
+public class XRPRangefinder {
+  private final AnalogInput m_rangefinder = new AnalogInput(2);
+
+  /**
+   * Get the measured distance in meters. Distance further than 4m will be reported as 4m.
+   *
+   * @return distance in meters
+   */
+  public double getDistanceMeters() {
+    return (m_rangefinder.getVoltage() / 5.0) * 4.0;
+  }
+
+  /**
+   * Get the measured distance in inches.
+   *
+   * @return distance in inches
+   */
+  public double getDistanceInches() {
+    return Units.metersToInches(getDistanceMeters());
+  }
+}

xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPReflectanceSensor.java

@@ -0,0 +1,31 @@
+// 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 edu.wpi.first.wpilibj.xrp;
+
+import edu.wpi.first.wpilibj.AnalogInput;
+
+/** This class represents the reflectance sensor pair on an XRP robot. */
+public class XRPReflectanceSensor {
+  private final AnalogInput m_leftSensor = new AnalogInput(0);
+  private final AnalogInput m_rightSensor = new AnalogInput(1);
+
+  /**
+   * Returns the reflectance value of the left sensor.
+   *
+   * @return value between 0.0 (white) and 1.0 (black).
+   */
+  public double getLeftReflectanceValue() {
+    return m_leftSensor.getVoltage() / 5.0;
+  }
+
+  /**
+   * Returns the reflectance value of the right sensor.
+   *
+   * @return value between 0.0 (white) and 1.0 (black).
+   */
+  public double getRightReflectanceValue() {
+    return m_rightSensor.getVoltage() / 5.0;
+  }
+}

xrpVendordep/src/main/native/cpp/xrp/XRPRangefinder.cpp

@@ -0,0 +1,11 @@
+// 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.
+
+#include "frc/xrp/XRPRangefinder.h"
+
+using namespace frc;
+
+units::meter_t XRPRangefinder::GetDistance() const {
+  return units::meter_t{m_rangefinder.GetVoltage() / 5.0 * 4.0};
+}

xrpVendordep/src/main/native/cpp/xrp/XRPReflectanceSensor.cpp

@@ -0,0 +1,15 @@
+// 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.
+
+#include "frc/xrp/XRPReflectanceSensor.h"
+
+using namespace frc;
+
+double XRPReflectanceSensor::GetLeftReflectanceValue() const {
+  return m_leftSensor.GetVoltage() / 5.0;
+}
+
+double XRPReflectanceSensor::GetRightReflectanceValue() const {
+  return m_rightSensor.GetVoltage() / 5.0;
+}

xrpVendordep/src/main/native/include/frc/xrp/XRPRangefinder.h

@@ -0,0 +1,29 @@
+// 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.
+
+#pragma once
+
+#include <frc/AnalogInput.h>
+
+#include <units/length.h>
+
+namespace frc {
+
+/**
+ * This class represents the reflectance sensor pair
+ * on the XRP robot.
+ */
+class XRPRangefinder {
+ public:
+  /**
+   * Return the measured distance in meters. Distances further than 4 meters
+   * will be reported as 4 meters.
+   */
+  units::meter_t GetDistance() const;
+
+ private:
+  frc::AnalogInput m_rangefinder{2};
+};
+
+}  // namespace frc

xrpVendordep/src/main/native/include/frc/xrp/XRPReflectanceSensor.h

@@ -0,0 +1,34 @@
+// 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.
+
+#pragma once
+
+#include <frc/AnalogInput.h>
+
+namespace frc {
+
+/**
+ * This class represents the reflectance sensor pair
+ * on the XRP robot.
+ */
+class XRPReflectanceSensor {
+ public:
+  /**
+   * Return the reflectance value of the left sensor.
+   * Value ranges from 0.0 (white) to 1.0 (black)
+   */
+  double GetLeftReflectanceValue() const;
+
+  /**
+   * Return the reflectance value of the right sensor.
+   * Value ranges from 0.0 (white) to 1.0 (black)
+   */
+  double GetRightReflectanceValue() const;
+
+ private:
+  frc::AnalogInput m_leftSensor{0};
+  frc::AnalogInput m_rightSensor{1};
+};
+
+}  // namespace frc