[wpilib] Add support for Sharp IR sensors (#6023)

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

@@ -0,0 +1,64 @@
+// 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 <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, 150.0);
+}
+
+SharpIR SharpIR::GP2Y0A21YK0F(int channel) {
+  return SharpIR(channel, 26.449, -1.226, 10.0, 80.0);
+}
+
+SharpIR SharpIR::GP2Y0A41SK0F(int channel) {
+  return SharpIR(channel, 12.354, -1.07, 4.0, 30.0);
+}
+
+SharpIR SharpIR::GP2Y0A51SK0F(int channel) {
+  return SharpIR(channel, 5.2819, -1.161, 2.0, 15.0);
+}
+
+SharpIR::SharpIR(int channel, double a, double b, double minCM, double maxCM)
+    : m_sensor(channel), m_A(a), m_B(b), m_minCM(minCM), m_maxCM(maxCM) {
+  wpi::SendableRegistry::AddLW(this, "SharpIR", channel);
+
+  m_simDevice = hal::SimDevice("SharpIR", m_sensor.GetChannel());
+  if (m_simDevice) {
+    m_simRange = m_simDevice.CreateDouble("Range (cm)", false, 0.0);
+    m_sensor.SetSimDevice(m_simDevice);
+  }
+}
+
+int SharpIR::GetChannel() const {
+  return m_sensor.GetChannel();
+}
+
+units::centimeter_t SharpIR::GetRange() const {
+  double distance;
+
+  if (m_simRange) {
+    distance = m_simRange.Get();
+  } else {
+    // Don't allow zero/negative values
+    auto v = std::max(m_sensor.GetVoltage(), 0.00001);
+    distance = m_A * std::pow(v, m_B);
+  }
+
+  // Always constrain output
+  return units::centimeter_t{std::max(std::min(distance, m_maxCM), m_minCM)};
+}
+
+void SharpIR::InitSendable(wpi::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Ultrasonic");
+  builder.AddDoubleProperty(
+      "Value", [=, this] { return GetRange().value(); }, nullptr);
+}

wpilibc/src/main/native/cpp/simulation/SharpIRSim.cpp

@@ -0,0 +1,24 @@
+// 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/simulation/SharpIRSim.h"
+
+#include <hal/SimDevice.h>
+#include <units/length.h>
+
+#include "frc/simulation/SimDeviceSim.h"
+
+using namespace frc;
+
+SharpIRSim::SharpIRSim(const SharpIR& sharpIR)
+    : SharpIRSim(sharpIR.GetChannel()) {}
+
+SharpIRSim::SharpIRSim(int channel) {
+  frc::sim::SimDeviceSim deviceSim{"SharpIR", channel};
+  m_simRange = deviceSim.GetDouble("Range (cm)");
+}
+
+void SharpIRSim::SetRange(units::centimeter_t rng) {
+  m_simRange.Set(rng.value());
+}

wpilibc/src/main/native/include/frc/SharpIR.h

@@ -0,0 +1,99 @@
+// 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 <hal/SimDevice.h>
+#include <units/length.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
+#include "frc/AnalogInput.h"
+
+namespace frc {
+
+class SharpIR : public wpi::Sendable, public wpi::SendableHelper<SharpIR> {
+ public:
+  /**
+   * Sharp GP2Y0A02YK0F is an analog IR sensor capable of measuring
+   * distances from 20cm to 150cm.
+   *
+   * @param channel Analog input channel the sensor is connected to
+   *
+   * @return sensor object
+   */
+  static SharpIR GP2Y0A02YK0F(int channel);
+
+  /**
+   * Sharp GP2Y0A21YK0F is an analog IR sensor capable of measuring
+   * distances from 10cm to 80cm.
+   *
+   * @param channel Analog input channel the sensor is connected to
+   *
+   * @return sensor object
+   */
+  static SharpIR GP2Y0A21YK0F(int channel);
+
+  /**
+   * Sharp GP2Y0A41SK0F is an analog IR sensor capable of measuring
+   * distances from 4cm to 30cm.
+   *
+   * @param channel Analog input channel the sensor is connected to
+   *
+   * @return sensor object
+   */
+  static SharpIR GP2Y0A41SK0F(int channel);
+
+  /**
+   * Sharp GP2Y0A51SK0F is an analog IR sensor capable of measuring
+   * distances from 2cm to 15cm.
+   *
+   * @param channel Analog input channel the sensor is connected to
+   *
+   * @return sensor object
+   */
+  static SharpIR GP2Y0A51SK0F(int channel);
+
+  /**
+   * Manually construct a SharpIR object. The distance is computed using this
+   * formula: A*v ^ B. Prefer to use one of the static factories to create this
+   * device instead.
+   *
+   * @param channel Analog input channel the sensor is connected to
+   * @param a Constant A
+   * @param b Constant B
+   * @param minCM Minimum distance to report in centimeters
+   * @param maxCM Maximum distance to report in centimeters
+   */
+  SharpIR(int channel, double a, double b, double minCM, double maxCM);
+
+  /**
+   * Get the analog input channel number.
+   *
+   * @return analog input channel
+   */
+  int GetChannel() const;
+
+  /**
+   * Get the range from the distance sensor.
+   *
+   * @return range of the target returned by the sensor
+   */
+  units::centimeter_t GetRange() const;
+
+  void InitSendable(wpi::SendableBuilder& builder) override;
+
+ private:
+  AnalogInput m_sensor;
+
+  hal::SimDevice m_simDevice;
+  hal::SimDouble m_simRange;
+
+  double m_A;
+  double m_B;
+  double m_minCM;
+  double m_maxCM;
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/simulation/SharpIRSim.h

@@ -0,0 +1,25 @@
+// 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 <hal/SimDevice.h>
+#include <units/length.h>
+
+#include "frc/SharpIR.h"
+
+namespace frc {
+
+class SharpIRSim {
+ public:
+  explicit SharpIRSim(const SharpIR& sharpIR);
+  explicit SharpIRSim(int channel);
+
+  void SetRange(units::centimeter_t rng);
+
+ private:
+  hal::SimDouble m_simRange;
+};
+
+}  // namespace frc