Merge branch 'main' into 2027

wpilibjExamples/build.gradle

@@ -72,6 +72,8 @@ ext {
     exampleFile = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/examples/examples.json")
     commandDirectory = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/commands/")
     commandFile = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/commands/commands.json")
+    snippetsDirectory = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/snippets/")
+    snippetsFile = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/snippets/snippets.json")
 }
 
 apply plugin: 'cpp'
@@ -201,6 +203,47 @@ model {
                                     test.dependsOn(testTask)
                                 }
                             }
+                            new groovy.json.JsonSlurper().parseText(snippetsFile.text).each { entry ->
+                                project.tasks.create("runSnippet${entry.foldername}", JavaExec) { run ->
+                                    run.group "run snippets"
+                                    run.mainClass = "edu.wpi.first.wpilibj.snippets." + entry.foldername + "." + entry.mainclass
+                                    run.classpath = sourceSets.main.runtimeClasspath
+                                    run.dependsOn it.tasks.install
+                                    run.systemProperty 'java.library.path', filePath
+                                    doFirst { doFirstTask(run) }
+
+                                    if (org.gradle.internal.os.OperatingSystem.current().isMacOsX()) {
+                                        run.jvmArgs = ['-XstartOnFirstThread']
+                                    }
+                                }
+                                project.tasks.create("testSnippet${entry.foldername}", Test) { testTask ->
+                                    testTask.group "verification"
+                                    testTask.useJUnitPlatform()
+                                    testTask.filter {
+                                        includeTestsMatching("edu.wpi.first.wpilibj.snippets.${entry.foldername}.*")
+                                        setFailOnNoMatchingTests(false)
+                                    }
+                                    test.filter {
+                                        excludeTestsMatching("edu.wpi.first.wpilibj.snippets.${entry.foldername}.*")
+                                        setFailOnNoMatchingTests(false)
+                                    }
+                                    testTask.testClassesDirs = sourceSets.test.output.classesDirs
+                                    testTask.classpath = sourceSets.test.runtimeClasspath
+                                    testTask.dependsOn it.tasks.install
+
+                                    testTask.systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+                                    testTask.testLogging {
+                                        events "failed"
+                                        exceptionFormat "full"
+                                    }
+                                    testTask.systemProperty 'java.library.path', filePath
+
+                                    if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxarm32') || project.hasProperty('onlylinuxarm64') || project.hasProperty('onlywindowsarm64')) {
+                                        testTask.enabled = false
+                                    }
+                                    test.dependsOn(testTask)
+                                }
+                            }
 
                             found = true
                         }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/dutycycleencoder/Main.java

@@ -0,0 +1,25 @@
+// 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.
+
+package edu.wpi.first.wpilibj.snippets.dutycycleencoder;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+  private Main() {}
+
+  /**
+   * Main initialization function. Do not perform any initialization here.
+   *
+   * <p>If you change your main robot class, change the parameter type.
+   */
+  public static void main(String... args) {
+    RobotBase.startRobot(Robot::new);
+  }
+}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/dutycycleencoder/Robot.java

@@ -0,0 +1,36 @@
+// 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.
+
+package edu.wpi.first.wpilibj.snippets.dutycycleencoder;
+
+import edu.wpi.first.wpilibj.DutyCycleEncoder;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * DutyCycleEncoder snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/encoders-software.html
+ */
+public class Robot extends TimedRobot {
+  // Initializes a duty cycle encoder on DIO pins 0
+  DutyCycleEncoder m_encoder = new DutyCycleEncoder(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)
+  DutyCycleEncoder m_encoderFR = new DutyCycleEncoder(0, 4.0, 2.0);
+
+  /** Called once at the beginning of the robot program. */
+  public Robot() {}
+
+  @Override
+  public void teleopPeriodic() {
+    // Gets the rotation
+    m_encoder.get();
+
+    // Gets if the encoder is connected
+    m_encoder.isConnected();
+
+    m_encoderFR.get();
+  }
+}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoder/Main.java

@@ -0,0 +1,25 @@
+// 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.
+
+package edu.wpi.first.wpilibj.snippets.encoder;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+  private Main() {}
+
+  /**
+   * Main initialization function. Do not perform any initialization here.
+   *
+   * <p>If you change your main robot class, change the parameter type.
+   */
+  public static void main(String... args) {
+    RobotBase.startRobot(Robot::new);
+  }
+}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoder/Robot.java

@@ -0,0 +1,62 @@
+// 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.
+
+package edu.wpi.first.wpilibj.snippets.encoder;
+
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * Encoder snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/encoders-software.html
+ */
+@SuppressWarnings("deprecation")
+public class Robot extends TimedRobot {
+  // Initializes an encoder on DIO pins 0 and 1
+  // Defaults to 4X decoding and non-inverted
+  Encoder m_encoder = new Encoder(0, 1);
+
+  // Initializes an encoder on DIO pins 0 and 1
+  // 2X encoding and non-inverted
+  Encoder m_encoder2x = new Encoder(0, 1, false, Encoder.EncodingType.k2X);
+
+  /** Called once at the beginning of the robot program. */
+  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);
+    // 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);
+
+    m_encoder2x.getRate();
+  }
+
+  @Override
+  public void teleopPeriodic() {
+    // 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();
+  }
+}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/snippets.json

@@ -0,0 +1,25 @@
+[
+  {
+    "name": "Encoder",
+    "description": "Snippets of Encoder class usage for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Encoder"
+    ],
+    "foldername": "encoder",
+    "gradlebase": "java",
+    "mainclass": "Main"
+  },
+  {
+    "name": "DutyCycleEncoder",
+    "description": "Snippets of DutyCycleEncoder class usage for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Encoder",
+      "Duty Cycle"
+    ],
+    "foldername": "dutycycleencoder",
+    "gradlebase": "java",
+    "mainclass": "Main"
+  }
+]