SharpIRSim.hpp

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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.
 
#pragma once
 
#include "wpi/hal/SimDevice.h"
#include "wpi/hardware/range/SharpIR.hpp"
#include "wpi/units/length.hpp"
 
namespace wpi {
 
/** Simulation class for Sharp IR sensors. */
class SharpIRSim {
 public:
  /**
   * Constructor.
   *
   * @param sharpIR The real sensor to simulate
   */
  explicit SharpIRSim(const SharpIR& sharpIR);
 
  /**
   * Constructor.
   *
   * @param channel Analog channel for this sensor
   */
  explicit SharpIRSim(int channel);
 
  /**
   * Set the range returned by the distance sensor.
   *
   * @param range range of the target returned by the sensor
   */
  void SetRange(wpi::units::meter_t range);
 
 private:
  wpi::hal::SimDouble m_simRange;
};
 
}  // namespace wpi