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

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This commit is contained in:
Dustin Spicuzza
2024-05-24 15:55:30 -04:00
committed by GitHub
parent d05c7c125b
commit dc0e9712e6
8 changed files with 458 additions and 0 deletions
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23
wpilibc/src/test/native/cpp/SharpIRTest.cpp Normal file
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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.
#include <gtest/gtest.h>
#include "frc/SharpIR.h"
#include "frc/simulation/SharpIRSim.h"
using namespace frc;
TEST(SharpIRTest, SimDevices) {
SharpIR s = SharpIR::GP2Y0A02YK0F(1);
SharpIRSim sim(s);
EXPECT_EQ(20, s.GetRange().value());
sim.SetRange(units::centimeter_t{30});
EXPECT_EQ(30, s.GetRange().value());
sim.SetRange(units::centimeter_t{300});
EXPECT_EQ(150, s.GetRange().value());
}