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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 <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