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

wpilibj/src/test/java/edu/wpi/first/wpilibj/SharpIRTest.java

@@ -0,0 +1,27 @@
+// 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.
+
+package edu.wpi.first.wpilibj;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import edu.wpi.first.wpilibj.simulation.SharpIRSim;
+import org.junit.jupiter.api.Test;
+
+class SharpIRTest {
+  @Test
+  void testSharpIR() {
+    try (SharpIR s = SharpIR.GP2Y0A02YK0F(1)) {
+      SharpIRSim sim = new SharpIRSim(s);
+
+      assertEquals(20, s.getRangeCM());
+
+      sim.setRangeCm(30);
+      assertEquals(30, s.getRangeCM());
+
+      sim.setRangeCm(300);
+      assertEquals(150, s.getRangeCM());
+    }
+  }
+}