From 7e00f2d3eb8edf1c15d3ca6836624c08a46d512f Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Fri, 24 May 2024 14:02:22 -0700
Subject: [PATCH] [wpilib] Fix docs for Sharp IR simulation (NFC) (#6653)

---
 .../native/include/frc/simulation/SharpIRSim.h  | 17 +++++++++++++++++
 .../first/wpilibj/simulation/SharpIRSim.java    | 11 +++++++++++
 2 files changed, 28 insertions(+)

diff --git a/wpilibc/src/main/native/include/frc/simulation/SharpIRSim.h b/wpilibc/src/main/native/include/frc/simulation/SharpIRSim.h
index 8ae43daf23..afbc0f4f9a 100644
--- a/wpilibc/src/main/native/include/frc/simulation/SharpIRSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/SharpIRSim.h
@@ -11,11 +11,28 @@
 
 namespace frc {
 
+/** Simulation class for Sharp IR sensors. */
 class SharpIRSim {
  public:
+  /**
+   * Constructor.
+   *
+   * @param sharpIR The real sensor to simulate
+   */
   explicit SharpIRSim(const SharpIR& sharpIR);
+
+  /**
+   * Constructor.
+   *
+   * @param channel Analog channel for this sensor
+   */
   explicit SharpIRSim(int channel);
 
+  /**
+   * Set the range returned by the distance sensor.
+   *
+   * @param rng range of the target returned by the sensor
+   */
   void SetRange(units::centimeter_t rng);
 
  private:
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SharpIRSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SharpIRSim.java
index db4785a351..eaf3dcb8b1 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SharpIRSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SharpIRSim.java
@@ -8,6 +8,7 @@ import edu.wpi.first.hal.SimDouble;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.SharpIR;
 
+/** Simulation class for Sharp IR sensors. */
 public class SharpIRSim {
   private final SimDouble m_simRange;
 
@@ -30,10 +31,20 @@ public class SharpIRSim {
     m_simRange = simDevice.getDouble("Range (cm)");
   }
 
+  /**
+   * Set the range in inches returned by the distance sensor.
+   *
+   * @param inches range in inches of the target returned by the sensor
+   */
   public void setRangeInches(double inches) {
     m_simRange.set(Units.inchesToMeters(inches) * 100.0);
   }
 
+  /**
+   * Set the range in centimeters returned by the distance sensor.
+   *
+   * @param cm range in centimeters of the target returned by the sensor
+   */
   public void setRangeCm(double cm) {
     m_simRange.set(cm);
   }