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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 "frc/SharpIR.h"
namespace frc {
/** 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 rng range of the target returned by the sensor
*/
void SetRange(units::centimeter_t rng);
private:
hal::SimDouble m_simRange;
};
} // namespace frc