sensor class sim

Author: MichaelLesirge

src/main/java/frc/robot/subsystems/superstructure/intake/sensor/Sensor.java

@@ -28,4 +28,14 @@ public void periodic() {
   public boolean isDetected() {
     return hasItem;
   }
+
+  /** For simulation, request item */
+  public void simulateItemRequest() {
+    io.simulateItemDesire();
+  }
+
+  /** For simulation, eject item */
+  public void simulateItemEjection() {
+    io.simulateItemEjection();
+  }
 }

src/main/java/frc/robot/subsystems/superstructure/intake/sensor/SensorIO.java

@@ -13,4 +13,8 @@ public static class SensorIOInputs {
 
   /** Updates the set of loggable inputs. */
   default void updateInputs(SensorIOInputs inputs) {}
+
+  default void simulateItemDesire() {}
+
+  default void simulateItemEjection() {}
 }

src/main/java/frc/robot/subsystems/superstructure/intake/sensor/SensorIOSim.java

@@ -0,0 +1,47 @@
+package frc.robot.subsystems.superstructure.intake.sensor;
+
+import java.util.Random;
+
+import edu.wpi.first.wpilibj.Timer;
+
+public class SensorIOSim implements SensorIO {
+
+  public static final double MAX_TIME_TILL_ITEM_SECONDS = 2.0;
+
+  private final Timer timer = new Timer();
+  private final Random random = new Random();
+
+  private double timeTillItem = 0.0;
+  private boolean itemRequested = false;
+
+  private boolean hasItem = false;
+
+  @Override
+  public void updateInputs(SensorIOInputs inputs) {
+    inputs.connected = true;
+
+    if (itemRequested) {
+      if (timer.hasElapsed(timeTillItem)) {
+        hasItem = true;
+      }
+    } else {
+      hasItem = false;
+    }
+
+    inputs.detected = hasItem;
+    inputs.rawValue = inputs.detected ? 1.0 : 0.0;
+  }
+
+  @Override
+  public void simulateItemDesire() {
+    timer.start();
+    timeTillItem = random.nextDouble() * MAX_TIME_TILL_ITEM_SECONDS;
+    itemRequested = true;
+  }
+
+  @Override
+  public void simulateItemEjection() {
+    itemRequested = false;
+    hasItem = false;
+  }
+}