SCRIPT Move cc files

wpilibc/src/main/native/cpp/hardware/range/SharpIR.cpp

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+// 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/SharpIR.h"
+
+#include <algorithm>
+
+#include <hal/UsageReporting.h>
+#include <units/length.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
+
+#include "frc/AnalogInput.h"
+
+using namespace frc;
+
+SharpIR SharpIR::GP2Y0A02YK0F(int channel) {
+  return SharpIR(channel, 62.28, -1.092, 20_cm, 150_cm);
+}
+
+SharpIR SharpIR::GP2Y0A21YK0F(int channel) {
+  return SharpIR(channel, 26.449, -1.226, 10_cm, 80_cm);
+}
+
+SharpIR SharpIR::GP2Y0A41SK0F(int channel) {
+  return SharpIR(channel, 12.354, -1.07, 4_cm, 30_cm);
+}
+
+SharpIR SharpIR::GP2Y0A51SK0F(int channel) {
+  return SharpIR(channel, 5.2819, -1.161, 2_cm, 15_cm);
+}
+
+SharpIR::SharpIR(int channel, double a, double b, units::meter_t min,
+                 units::meter_t max)
+    : m_sensor(channel), m_A(a), m_B(b), m_min(min), m_max(max) {
+  HAL_ReportUsage("IO", channel, "SharpIR");
+  wpi::SendableRegistry::Add(this, "SharpIR", channel);
+
+  m_simDevice = hal::SimDevice("SharpIR", m_sensor.GetChannel());
+  if (m_simDevice) {
+    m_simRange = m_simDevice.CreateDouble("Range (m)", false, 0.0);
+    m_sensor.SetSimDevice(m_simDevice);
+  }
+}
+
+int SharpIR::GetChannel() const {
+  return m_sensor.GetChannel();
+}
+
+units::meter_t SharpIR::GetRange() const {
+  if (m_simRange) {
+    return std::clamp(units::meter_t{m_simRange.Get()}, m_min, m_max);
+  } else {
+    // Don't allow zero/negative values
+    auto v = std::max(m_sensor.GetVoltage(), 0.00001);
+
+    return std::clamp(units::meter_t{m_A * std::pow(v, m_B) * 1e-2}, m_min,
+                      m_max);
+  }
+}
+
+void SharpIR::InitSendable(wpi::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Ultrasonic");
+  builder.AddDoubleProperty(
+      "Value", [=, this] { return GetRange().value(); }, nullptr);
+}