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

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