[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());
+}