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

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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.
+
+package edu.wpi.first.wpilibj.simulation;
+
+import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.wpilibj.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);
+  }
+}