Merge branch 'main' into 2027

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

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+// 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 <numbers>
+
+#include <frc/DutyCycleEncoder.h>
+#include <frc/TimedRobot.h>
+
+/**
+ * DutyCycleEncoder snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/encoders-software.html
+ */
+class Robot : public frc::TimedRobot {
+ public:
+  Robot() {}
+
+  void TeleopPeriodic() override {
+    // Gets the rotation
+    m_encoder.Get();
+
+    // Gets if the encoder is connected
+    m_encoder.IsConnected();
+  }
+
+ private:
+  // Initializes a duty cycle encoder on DIO pins 0
+  frc::DutyCycleEncoder m_encoder{0};
+
+  // Initializes a duty cycle encoder on DIO pins 0 to return a value of 4 for
+  // a full rotation, with the encoder reporting 0 half way through rotation (2
+  // out of 4)
+  frc::DutyCycleEncoder m_encoderFR{0, 4.0, 2.0};
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif

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

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+// 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 <numbers>
+
+#include <frc/Encoder.h>
+#include <frc/TimedRobot.h>
+#include <frc/smartdashboard/SmartDashboard.h>
+#include <wpi/deprecated.h>
+
+/**
+ * Encoder snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/encoders-software.html
+ */
+WPI_IGNORE_DEPRECATED
+class Robot : public frc::TimedRobot {
+ public:
+  Robot() {
+    // Configures the encoder to return a distance of 4 for every 256 pulses
+    // Also changes the units of getRate
+    m_encoder.SetDistancePerPulse(4.0 / 256.0);
+    // Configures the encoder to consider itself stopped after .1 seconds
+    m_encoder.SetMaxPeriod(0.1_s);
+    // Configures the encoder to consider itself stopped when its rate is below
+    // 10
+    m_encoder.SetMinRate(10);
+    // Reverses the direction of the encoder
+    m_encoder.SetReverseDirection(true);
+    // Configures an encoder to average its period measurement over 5 samples
+    // Can be between 1 and 127 samples
+    m_encoder.SetSamplesToAverage(5);
+  }
+
+  void TeleopPeriodic() override {
+    // Gets the distance traveled
+    m_encoder.GetDistance();
+
+    // Gets the current rate of the encoder
+    m_encoder.GetRate();
+
+    // Gets whether the encoder is stopped
+    m_encoder.GetStopped();
+
+    // Gets the last direction in which the encoder moved
+    m_encoder.GetDirection();
+
+    // Gets the current period of the encoder
+    m_encoder.GetPeriod();
+
+    // Resets the encoder to read a distance of zero
+    m_encoder.Reset();
+  }
+
+ private:
+  // Initializes an encoder on DIO pins 0 and 1
+  // Defaults to 4X decoding and non-inverted
+  frc::Encoder m_encoder{0, 1};
+
+  // Initializes an encoder on DIO pins 0 and 1
+  // 2X encoding and non-inverted
+  frc::Encoder m_encoder2x{0, 1, false, frc::Encoder::EncodingType::k2X};
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif

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

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+[
+  {
+    "name": "Encoder",
+    "description": "Snippets of Encoder class usage for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Encoder"
+    ],
+    "foldername": "Encoder",
+    "gradlebase": "cpp"
+  },
+  {
+    "name": "DutyCycleEncoder",
+    "description": "Snippets of DutyCycleEncoder class usage for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Encoder",
+      "Duty Cycle"
+    ],
+    "foldername": "DutyCycleEncoder",
+    "gradlebase": "cpp"
+  }
+]