[examples] Add Accelerometer collision detection snippets

wpilibcExamples/src/main/cpp/snippets/AccelerometerCollision/cpp/Robot.cpp

@@ -0,0 +1,40 @@
+// 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.
+
+#include <frc/BuiltInAccelerometer.h>
+#include <frc/TimedRobot.h>
+#include <frc/smartdashboard/SmartDashboard.h>
+
+/**
+ * Collision detection snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
+ */
+class Robot : public frc::TimedRobot {
+ public:
+  void RobotPeriodic() override {
+    // Gets the current accelerations in the X and Y directions
+    double xAccel = m_accelerometer.GetX();
+    double yAccel = m_accelerometer.GetY();
+    // Calculates the jerk in the X and Y directions
+    // Divides by .02 because default loop timing is 20ms
+    double xJerk = (xAccel - m_prevXAccel) / 0.02;
+    double yJerk = (yAccel - m_prevYAccel) / 0.02;
+    m_prevXAccel = xAccel;
+    m_prevYAccel = yAccel;
+
+    frc::SmartDashboard::PutNumber("X Jerk", xJerk);
+    frc::SmartDashboard::PutNumber("Y Jerk", yJerk);
+  }
+
+ private:
+  double m_prevXAccel = 0.0;
+  double m_prevYAccel = 0.0;
+  frc::BuiltInAccelerometer m_accelerometer;
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif

wpilibcExamples/src/main/cpp/snippets/snippets.json

@@ -134,5 +134,15 @@
     ],
     "foldername": "BuiltInAccelerometer",
     "gradlebase": "cpp"
+  },
+  {
+    "name": "AccelerometerCollisionDetection",
+    "description": "Snippets of Accelerometer collision detection for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Accelerometer"
+    ],
+    "foldername": "AccelerometerCollision",
+    "gradlebase": "cpp"
   }
 ]