From 89a024a53a89d97537a8cf713d94e1527fe99972 Mon Sep 17 00:00:00 2001
From: Evan Pratten <ewpratten@gmail.com>
Date: Sun, 5 Jul 2020 11:35:14 -0400
Subject: [PATCH] Add pressure sensor

---
 .../revrobotics/sensors/PressureSensor.java   | 50 +++++++++++++++++++
 1 file changed, 50 insertions(+)
 create mode 100644 hardware/revrobotics/src/main/java/io/github/frc5024/lib5k/hardware/revrobotics/sensors/PressureSensor.java

diff --git a/hardware/revrobotics/src/main/java/io/github/frc5024/lib5k/hardware/revrobotics/sensors/PressureSensor.java b/hardware/revrobotics/src/main/java/io/github/frc5024/lib5k/hardware/revrobotics/sensors/PressureSensor.java
new file mode 100644
index 000000000..d2ab3e31e
--- /dev/null
+++ b/hardware/revrobotics/src/main/java/io/github/frc5024/lib5k/hardware/revrobotics/sensors/PressureSensor.java
@@ -0,0 +1,50 @@
+package io.github.frc5024.lib5k.hardware.revrobotics.sensors;
+
+import edu.wpi.first.hal.SimDevice;
+import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.wpilibj.AnalogInput;
+
+/**
+ * A wrapper for the Rev Robotics Analog Pressure Sensor
+ * 
+ * https://www.revrobotics.com/rev-11-1107/
+ */
+public class PressureSensor extends AnalogInput {
+
+    // Simulation
+    private SimDevice simDevice;
+    private SimDouble simPreassure;
+
+    /**
+     * Construct a pressure sensor.
+     *
+     * @param channel The channel number of the sensor. 0-3 are on-board 4-7 are on
+     *                the MXP port.
+     */
+    public PressureSensor(int channel) {
+        super(channel);
+
+        // Set up simulation
+        simDevice = SimDevice.create("RevPressureSensor", channel);
+        if (simDevice != null) {
+            simPreassure = simDevice.createDouble("PSI", false, 60.0);
+        }
+    }
+
+    /**
+     * Get the sensed air pressure in PSI
+     * 
+     * @return PSI
+     */
+    public double getPressurePSI() {
+
+        // Simulation reading
+        if (simDevice != null) {
+            return simPreassure.get();
+        }
+
+        // Real reading
+        return 250.0 * getVoltage() / 5.0 - 25.0;
+    }
+
+}
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