[examples] Add remaining Encoder snippets (#7936)

wpilibcExamples/CMakeLists.txt

@@ -9,6 +9,7 @@ subdir_list(SNIPPETS ${CMAKE_SOURCE_DIR}/wpilibcExamples/src/main/cpp/snippets)
 
 add_custom_target(wpilibcExamples)
 add_custom_target(wpilibcExamples_test)
+add_custom_target(wpilibcExamples_snippets)
 
 foreach(example ${EXAMPLES})
     file(
@@ -72,8 +73,8 @@ foreach(snippet ${SNIPPETS})
         src/main/cpp/snippets/${snippet}/c/*.c
     )
     add_executable(snippet${snippet} ${sources})
-    wpilib_target_warnings(${snippet})
+    wpilib_target_warnings(snippet${snippet})
     target_include_directories(snippet${snippet} PUBLIC src/main/cpp/snippets/${snippet}/include)
     target_link_libraries(snippet${snippet} wpilibc wpilibNewCommands romiVendordep xrpVendordep)
-    add_dependencies(wpilibcExamples snippet${snippet})
+    add_dependencies(wpilibcExamples_snippets snippet${snippet})
 endforeach()

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

@@ -0,0 +1,37 @@
+// 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/AnalogEncoder.h>
+#include <frc/TimedRobot.h>
+
+/**
+ * AnalogEncoder 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();
+  }
+
+ private:
+  // Initializes an analog encoder on Analog Input pin 0
+  frc::AnalogEncoder m_encoder{0};
+
+  // Initializes an analog 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::AnalogEncoder m_encoderFR{0, 4.0, 2.0};
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif

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

@@ -0,0 +1,56 @@
+// 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/drive/DifferentialDrive.h>
+#include <frc/motorcontrol/Spark.h>
+
+/**
+ * Encoder drive to distance 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() {
+    // Configures the encoder's distance-per-pulse
+    // The robot moves forward 1 foot per encoder rotation
+    // There are 256 pulses per encoder rotation
+    m_encoder.SetDistancePerPulse(1.0 / 256.0);
+    // Invert the right side of the drivetrain. You might have to invert the
+    // other side
+    rightLeader.SetInverted(true);
+    // Configure the followers to follow the leaders
+    leftLeader.AddFollower(leftFollower);
+    rightLeader.AddFollower(rightFollower);
+  }
+  void AutonomousPeriodic() override {
+    // Drives forward at half speed until the robot has moved 5 feet, then
+    // stops:
+    if (m_encoder.GetDistance() < 5) {
+      drive.TankDrive(0.5, 0.5);
+    } else {
+      drive.TankDrive(0, 0);
+    }
+  }
+
+ private:
+  // Creates an encoder on DIO ports 0 and 1.
+  frc::Encoder m_encoder{0, 1};
+  // Initialize motor controllers and drive
+  frc::Spark leftLeader{0};
+  frc::Spark leftFollower{1};
+  frc::Spark rightLeader{2};
+  frc::Spark rightFollower{3};
+  frc::DifferentialDrive drive{[&](double output) { leftLeader.Set(output); },
+                               [&](double output) { rightLeader.Set(output); }};
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif

wpilibcExamples/src/main/cpp/snippets/EncoderHoming/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 <numbers>
+
+#include <frc/DigitalInput.h>
+#include <frc/Encoder.h>
+#include <frc/TimedRobot.h>
+#include <frc/motorcontrol/Spark.h>
+
+/**
+ * Encoder mechanism homing snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/encoders-software.html
+ */
+class Robot : public frc::TimedRobot {
+ public:
+  void AutonomousPeriodic() override {
+    // Runs the motor backwards at half speed until the limit switch is pressed
+    // then turn off the motor and reset the encoder
+    if (!m_limit.Get()) {
+      m_spark.Set(-0.5);
+    } else {
+      m_spark.Set(0);
+      m_encoder.Reset();
+    }
+  }
+
+ private:
+  frc::Encoder m_encoder{0, 1};
+  frc::Spark m_spark{0};
+  // Limit switch on DIO 2
+  frc::DigitalInput m_limit{2};
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif

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

@@ -19,5 +19,38 @@
     ],
     "foldername": "DutyCycleEncoder",
     "gradlebase": "cpp"
+  },
+  {
+    "name": "AnalogEncoder",
+    "description": "Snippets of AnalogEncoder class usage for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Encoder",
+      "Analog"
+    ],
+    "foldername": "AnalogEncoder",
+    "gradlebase": "cpp"
+  },
+  {
+    "name": "EncoderDrive",
+    "description": "Snippets of driving to a distance for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Encoder",
+      "Differential Drive"
+    ],
+    "foldername": "EncoderDrive",
+    "gradlebase": "cpp"
+  },
+  {
+    "name": "EncoderHoming",
+    "description": "Snippets of homing a mechanism for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Encoder",
+      "Digital Input"
+    ],
+    "foldername": "EncoderHoming",
+    "gradlebase": "cpp"
   }
 ]

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/analogencoder/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.analogencoder;
+
+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/analogencoder/Robot.java

@@ -0,0 +1,33 @@
+// 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.analogencoder;
+
+import edu.wpi.first.wpilibj.AnalogEncoder;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * AnalogEncoder snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/encoders-software.html
+ */
+public class Robot extends TimedRobot {
+  // Initializes an analog encoder on Analog Input pin 0
+  AnalogEncoder m_encoder = new AnalogEncoder(0);
+
+  // Initializes an analog 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)
+  AnalogEncoder m_encoderFR = new AnalogEncoder(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();
+
+    m_encoderFR.get();
+  }
+}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoderdrive/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.encoderdrive;
+
+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/encoderdrive/Robot.java

@@ -0,0 +1,48 @@
+// 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.encoderdrive;
+
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
+
+/**
+ * Encoder drive to distance snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/encoders-software.html
+ */
+public class Robot extends TimedRobot {
+  // Creates an encoder on DIO ports 0 and 1
+  Encoder m_encoder = new Encoder(0, 1);
+  // Initialize motor controllers and drive
+  Spark m_leftLeader = new Spark(0);
+  Spark m_leftFollower = new Spark(1);
+  Spark m_rightLeader = new Spark(2);
+  Spark m_rightFollower = new Spark(3);
+  DifferentialDrive m_drive = new DifferentialDrive(m_leftLeader::set, m_rightLeader::set);
+
+  /** Called once at the beginning of the robot program. */
+  public Robot() {
+    // Configures the encoder's distance-per-pulse
+    // The robot moves forward 1 foot per encoder rotation
+    // There are 256 pulses per encoder rotation
+    m_encoder.setDistancePerPulse(1.0 / 256.0);
+    // Invert the right side of the drivetrain. You might have to invert the other side
+    m_rightLeader.setInverted(true);
+    // Configure the followers to follow the leaders
+    m_leftLeader.addFollower(m_leftFollower);
+    m_rightLeader.addFollower(m_rightFollower);
+  }
+
+  /** Drives forward at half speed until the robot has moved 5 feet, then stops. */
+  @Override
+  public void autonomousPeriodic() {
+    if (m_encoder.getDistance() < 5.0) {
+      m_drive.tankDrive(0.5, 0.5);
+    } else {
+      m_drive.tankDrive(0.0, 0.0);
+    }
+  }
+}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/encoderhoming/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.encoderhoming;
+
+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/encoderhoming/Robot.java

@@ -0,0 +1,35 @@
+// 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.encoderhoming;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
+
+/**
+ * Encoder mechanism homing snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/encoders-software.html
+ */
+public class Robot extends TimedRobot {
+  Encoder m_encoder = new Encoder(0, 1);
+  Spark m_spark = new Spark(0);
+  // Limit switch on DIO 2
+  DigitalInput m_limit = new DigitalInput(2);
+
+  /**
+   * Runs the motor backwards at half speed until the limit switch is pressed then turn off the
+   * motor and reset the encoder.
+   */
+  @Override
+  public void autonomousPeriodic() {
+    if (!m_limit.get()) {
+      m_spark.set(-0.5);
+    } else {
+      m_spark.set(0.0);
+      m_encoder.reset();
+    }
+  }
+}

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

@@ -21,5 +21,41 @@
     "foldername": "dutycycleencoder",
     "gradlebase": "java",
     "mainclass": "Main"
+  },
+  {
+    "name": "AnalogEncoder",
+    "description": "Snippets of AnalogEncoder class usage for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Encoder",
+      "Analog"
+    ],
+    "foldername": "analogencoder",
+    "gradlebase": "java",
+    "mainclass": "Main"
+  },
+  {
+    "name": "EncoderDrive",
+    "description": "Snippets of driving to a distance for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Encoder",
+      "Differential Drive"
+    ],
+    "foldername": "encoderdrive",
+    "gradlebase": "java",
+    "mainclass": "Main"
+  },
+  {
+    "name": "EncoderHoming",
+    "description": "Snippets of homing a mechanism for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Encoder",
+      "Digital Input"
+    ],
+    "foldername": "encoderhoming",
+    "gradlebase": "java",
+    "mainclass": "Main"
   }
 ]