Add cpp examples (#659)

* Added C++ robot project examples and set up sub .clang-format for them

* Ran formatter

wpilibcExamples/src/main/cpp/examples/Encoder/src/Robot.cpp

@@ -0,0 +1,93 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <Encoder.h>
+#include <IterativeRobot.h>
+#include <SmartDashboard/SmartDashboard.h>
+
+/**
+ * Sample program displaying the value of a quadrature encoder on the
+ *   SmartDashboard.
+ * Quadrature Encoders are digital sensors which can detect the amount the
+ *   encoder has rotated since starting as well as the direction in which the
+ *   encoder shaft is rotating. However, encoders can not tell you the absolute
+ *   position of the encoder shaft (ie, it considers where it starts to be the
+ *   zero position, no matter where it starts), and so can only tell you how
+ *   much the encoder has rotated since starting.
+ * Depending on the precision of an encoder, it will have fewer or greater
+ *   ticks per revolution; the number of ticks per revolution will affect the
+ *   conversion between ticks and distance, as specified by DistancePerPulse.
+ * One of the most common uses of encoders is in the drivetrain, so that the
+ *   distance that the robot drives can be precisely controlled during the
+ *   autonomous mode.
+ */
+class Robot : public frc::IterativeRobot {
+	/**
+	 * The Encoder object is constructed with 4 parameters, the last two
+	 * being
+	 *   optional.
+	 * The first two parameters (1, 2 in this case) refer to the ports on
+	 * the
+	 *   roboRIO which the encoder uses. Because a quadrature encoder has
+	 *   two signal wires, the signal from two DIO ports on the roboRIO are
+	 * used.
+	 * The third (optional) parameter is a boolean which defaults to false.
+	 *   If you set this parameter to true, the direction of the encoder
+	 * will
+	 *   be reversed, in case it makes more sense mechanically.
+	 * The final (optional) parameter specifies encoding rate (k1X, k2X, or
+	 * k4X)
+	 *   and defaults to k4X. Faster (k4X) encoding gives greater positional
+	 *   precision but more noise in the rate.
+	 */
+	frc::Encoder m_encoder{1, 2, false, Encoder::k4X};
+
+public:
+	Robot() {
+		/* Defines the number of samples to average when determining the
+		 * rate.
+		 * On a quadrature encoder, values range from 1-255; larger
+		 * values
+		 *   result in smoother but potentially less accurate rates than
+		 * lower
+		 *   values.
+		 */
+		m_encoder.SetSamplesToAverage(5);
+
+		/* Defines how far the mechanism attached to the encoder moves
+		 * per pulse.
+		 * In this case, we assume that a 360 count encoder is directly
+		 * attached
+		 * to a 3 inch diameter (1.5inch radius) wheel, and that we want
+		 * to
+		 * measure distance in inches.
+		 */
+		m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5);
+
+		/* Defines the lowest rate at which the encoder will not be
+		 * considered
+		 *   stopped, for the purposes of the GetStopped() method.
+		 * Units are in distance / second, where distance refers to the
+		 * units
+		 *   of distance that you are using, in this case inches.
+		 */
+		m_encoder.SetMinRate(1.0);
+	}
+
+	void TeleopPeriodic() override {
+		// Retrieve the net displacement of the Encoder since the last
+		// Reset.
+		frc::SmartDashboard::PutNumber(
+				"Encoder Distance", m_encoder.GetDistance());
+
+		// Retrieve the current rate of the encoder.
+		frc::SmartDashboard::PutNumber(
+				"Encoder Rate", m_encoder.GetRate());
+	}
+};
+
+START_ROBOT_CLASS(Robot)