From 1e12408a7defa48b330dd706a7cdd176061d2698 Mon Sep 17 00:00:00 2001
From: sciencewhiz <sciencewhiz@users.noreply.github.com>
Date: Thu, 28 May 2026 20:09:07 -0700
Subject: [PATCH] [examples] add motor safety and invert to motor snip (#8924)

---
 robotpyExamples/MotorControl/robot.py               | 13 +++++++++++++
 .../main/cpp/snippets/MotorControl/cpp/Robot.cpp    | 13 +++++++++++++
 .../org/wpilib/snippets/motorcontrol/Robot.java     | 13 +++++++++++++
 3 files changed, 39 insertions(+)

diff --git a/robotpyExamples/MotorControl/robot.py b/robotpyExamples/MotorControl/robot.py
index c8c23d73f9..b483ea64bf 100755
--- a/robotpyExamples/MotorControl/robot.py
+++ b/robotpyExamples/MotorControl/robot.py
@@ -20,6 +20,10 @@ class MyRobot(wpilib.TimedRobot):
 
     In addition, the encoder value of an encoder connected to ports 0 and 1 is consistently sent
     to the Dashboard.
+
+    Finally, short code snippets show how to invert the motor direction and how to use the motor
+    safety for frc-docs.
+    https://docs.wpilib.org/en/stable/docs/software/hardware-apis/motors/wpi-drive-classes.html
     """
 
     kMotorPort = 0
@@ -38,6 +42,15 @@ class MyRobot(wpilib.TimedRobot):
         # This is set up assuming a 6 inch wheel with a 360 CPR encoder.
         self.encoder.setDistancePerPulse((math.pi * 6) / 360.0)
 
+        # show motor inversion
+        self.motor.setInverted(True)
+
+        # show motor safety features
+        self.motor.setSafetyEnabled(True)
+        self.motor.setSafetyEnabled(False)
+        self.motor.setExpiration(0.1)
+        self.motor.feed()
+
     def robotPeriodic(self):
         """The RobotPeriodic function is called every control packet no matter the robot mode."""
         wpilib.SmartDashboard.putNumber("Encoder", self.encoder.getDistance())
diff --git a/wpilibcExamples/src/main/cpp/snippets/MotorControl/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/MotorControl/cpp/Robot.cpp
index 960150779e..bb1112d17b 100644
--- a/wpilibcExamples/src/main/cpp/snippets/MotorControl/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/MotorControl/cpp/Robot.cpp
@@ -20,6 +20,10 @@
  *
  * In addition, the encoder value of an encoder connected to ports 0 and 1 is
  * consistently sent to the Dashboard.
+ *
+ * Finally, short code snippets show how to invert the motor direction and how
+ * to use the motor safety for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/motors/wpi-drive-classes.html
  */
 class Robot : public wpi::TimedRobot {
  public:
@@ -37,6 +41,15 @@ class Robot : public wpi::TimedRobot {
     // Use SetDistancePerPulse to set the multiplier for GetDistance
     // This is set up assuming a 6 inch wheel with a 360 CPR encoder.
     encoder.SetDistancePerPulse((std::numbers::pi * 6) / 360.0);
+
+    // show motor inversion
+    motor.SetInverted(true);
+
+    // show motor safety features
+    motor.SetSafetyEnabled(true);
+    motor.SetSafetyEnabled(false);
+    motor.SetExpiration(0.1_s);
+    motor.Feed();
   }
 
  private:
diff --git a/wpilibjExamples/src/main/java/org/wpilib/snippets/motorcontrol/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/snippets/motorcontrol/Robot.java
index 92b9c9d51d..989c25fc4c 100644
--- a/wpilibjExamples/src/main/java/org/wpilib/snippets/motorcontrol/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/snippets/motorcontrol/Robot.java
@@ -19,6 +19,10 @@ import org.wpilib.smartdashboard.SmartDashboard;
  *
  * <p>In addition, the encoder value of an encoder connected to ports 0 and 1 is consistently sent
  * to the Dashboard.
+ *
+ * <p>Finally, short code snippets show how to invert the motor direction and how to use the motor
+ * safety for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/motors/wpi-drive-classes.html
  */
 public class Robot extends TimedRobot {
   private static final int kMotorPort = 0;
@@ -38,6 +42,15 @@ public class Robot extends TimedRobot {
     // Use SetDistancePerPulse to set the multiplier for GetDistance
     // This is set up assuming a 6 inch wheel with a 360 CPR encoder.
     encoder.setDistancePerPulse((Math.PI * 6) / 360.0);
+
+    // show motor inversion
+    motor.setInverted(true);
+
+    // show motor safety features
+    motor.setSafetyEnabled(true);
+    motor.setSafetyEnabled(false);
+    motor.setExpiration(0.1);
+    motor.feed();
   }
 
   /*