mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
25 lines
773 B
C++
25 lines
773 B
C++
// 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/UltrasonicSim.h"
|
|
|
|
#include "frc/Ultrasonic.h"
|
|
#include "frc/simulation/SimDeviceSim.h"
|
|
|
|
using namespace frc::sim;
|
|
|
|
UltrasonicSim::UltrasonicSim(const frc::Ultrasonic& ultrasonic) {
|
|
frc::sim::SimDeviceSim deviceSim{"Ultrasonic", ultrasonic.GetEchoChannel()};
|
|
m_simRangeValid = deviceSim.GetBoolean("Range Valid");
|
|
m_simRange = deviceSim.GetDouble("Range (in)");
|
|
}
|
|
|
|
void UltrasonicSim::SetRangeValid(bool isValid) {
|
|
m_simRangeValid.Set(isValid);
|
|
}
|
|
|
|
void UltrasonicSim::SetRange(units::meter_t range) {
|
|
m_simRange.Set(range.to<double>());
|
|
}
|