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

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());
+}