Merge branch 'main' into 2027

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.h

@@ -82,7 +82,6 @@ class DriveSubsystem : public frc2::SubsystemBase {
    * @param distance The distance to drive forward.
    * @return A command.
    */
-  [[nodiscard]]
   frc2::CommandPtr ProfiledDriveDistance(units::meter_t distance);
 
   /**
@@ -92,7 +91,6 @@ class DriveSubsystem : public frc2::SubsystemBase {
    * @param distance The distance to drive forward.
    * @return A command.
    */
-  [[nodiscard]]
   frc2::CommandPtr DynamicProfiledDriveDistance(units::meter_t distance);
 
  private:

wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.h

@@ -28,7 +28,6 @@ class Drive : public frc2::SubsystemBase {
    * @param fwd the commanded forward movement
    * @param rot the commanded rotation
    */
-  [[nodiscard]]
   frc2::CommandPtr ArcadeDriveCommand(std::function<double()> fwd,
                                       std::function<double()> rot);
 
@@ -39,7 +38,6 @@ class Drive : public frc2::SubsystemBase {
    * @param distance The distance to drive forward in meters
    * @param speed The fraction of max speed at which to drive
    */
-  [[nodiscard]]
   frc2::CommandPtr DriveDistanceCommand(units::meter_t distance, double speed);
 
   /**
@@ -48,7 +46,6 @@ class Drive : public frc2::SubsystemBase {
    *
    * @param angle The angle to turn to
    */
-  [[nodiscard]]
   frc2::CommandPtr TurnToAngleCommand(units::degree_t angle);
 
  private:

wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Intake.h

@@ -19,11 +19,9 @@ class Intake : public frc2::SubsystemBase {
 
   /** Returns a command that deploys the intake, and then runs the intake motor
    * indefinitely. */
-  [[nodiscard]]
   frc2::CommandPtr IntakeCommand();
 
   /** Returns a command that turns off and retracts the intake. */
-  [[nodiscard]]
   frc2::CommandPtr RetractCommand();
 
  private:

wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.h

@@ -17,7 +17,6 @@ class Pneumatics : frc2::SubsystemBase {
  public:
   Pneumatics();
   /** Returns a command that disables the compressor indefinitely. */
-  [[nodiscard]]
   frc2::CommandPtr DisableCompressorCommand();
 
   /**

wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Shooter.h

@@ -28,7 +28,6 @@ class Shooter : public frc2::SubsystemBase {
    *
    * @param setpointRotationsPerSecond The desired shooter velocity
    */
-  [[nodiscard]]
   frc2::CommandPtr ShootCommand(units::turns_per_second_t setpoint);
 
  private:

wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Storage.h

@@ -16,7 +16,6 @@ class Storage : frc2::SubsystemBase {
  public:
   Storage();
   /** Returns a command that runs the storage motor indefinitely. */
-  [[nodiscard]]
   frc2::CommandPtr RunCommand();
 
   /** Whether the ball storage is full. */

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

@@ -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.
+
+#include <frc/AnalogAccelerometer.h>
+#include <frc/AnalogInput.h>
+#include <frc/TimedRobot.h>
+
+/**
+ * AnalogAccelerometer snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
+ */
+class Robot : public frc::TimedRobot {
+ public:
+  Robot() {
+    // Sets the sensitivity of the accelerometer to 1 volt per G
+    m_accelerometer.SetSensitivity(1);
+    // Sets the zero voltage of the accelerometer to 3 volts
+    m_accelerometer.SetZero(3);
+  }
+
+  void TeleopPeriodic() override {
+    // Gets the current acceleration
+    m_accelerometer.GetAcceleration();
+  }
+
+ private:
+  // Creates an analog accelerometer on analog input 0
+  frc::AnalogAccelerometer m_accelerometer{0};
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif

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

@@ -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.
+
+#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/AnalogInput/cpp/Robot.cpp

@@ -0,0 +1,59 @@
+// 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/AnalogInput.h>
+#include <frc/TimedRobot.h>
+
+/**
+ * AnalogInput snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/analog-input-software.html
+ */
+class Robot : public frc::TimedRobot {
+ public:
+  Robot() {
+    // Sets the AnalogInput to 4-bit oversampling.  16 samples will be added
+    // together.
+    // Thus, the reported values will increase by about a factor of 16, and the
+    // update rate will decrease by a similar amount.
+    m_analog.SetOversampleBits(4);
+
+    // Sets the AnalogInput to 4-bit averaging.  16 samples will be averaged
+    // together. The update rate will decrease by a factor of 16.
+    m_analog.SetAverageBits(4);
+
+    // Gets the raw instantaneous measured value from the analog input, without
+    // applying any calibration and ignoring oversampling and averaging
+    // settings.
+    m_analog.GetValue();
+
+    // Gets the instantaneous measured voltage from the analog input.
+    // Oversampling and averaging settings are ignored
+    m_analog.GetVoltage();
+
+    // Gets the averaged value from the analog input.  The value is not
+    // rescaled, but oversampling and averaging are both applied.
+    m_analog.GetAverageValue();
+
+    // Gets the averaged voltage from the analog input.  Rescaling,
+    // oversampling, and averaging are all applied.
+    m_analog.GetAverageVoltage();
+  }
+
+  void TeleopPeriodic() override {
+  }
+
+ private:
+  // Initializes an AnalogInput on port 0
+  frc::AnalogInput m_analog{0};
+
+  // The count and value variables to fill
+  int64_t count;
+  int64_t value;
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif

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

@@ -0,0 +1,45 @@
+// 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/AnalogInput.h>
+#include <frc/AnalogPotentiometer.h>
+#include <frc/TimedRobot.h>
+
+/**
+ * AnalogPotentiometer snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/analog-potentiometers-software.html
+ */
+class Robot : public frc::TimedRobot {
+ public:
+  Robot() {
+    // Set averaging bits to 2
+    m_input.SetAverageBits(2);
+  }
+
+  void TeleopPeriodic() override {
+    // Get the value of the potentiometer
+    m_pot.Get();
+  }
+
+ private:
+  // Initializes an AnalogPotentiometer on analog port 0
+  // The full range of motion (in meaningful external units) is 0-180 (this
+  // could be degrees, for instance) The "starting point" of the motion, i.e.
+  // where the mechanism is located when the potentiometer reads 0v, is 30.
+  frc::AnalogPotentiometer m_pot{0, 180, 30};
+
+  // Initializes an AnalogInput on port 1
+  frc::AnalogInput m_input{1};
+  // Initializes an AnalogPotentiometer with the given AnalogInput
+  // The full range of motion (in meaningful external units) is 0-180 (this
+  // could be degrees, for instance) The "starting point" of the motion, i.e.
+  // where the mechanism is located when the potentiometer reads 0v, is 30.
+  frc::AnalogPotentiometer m_pot1{&m_input, 180, 30};
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif

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

@@ -0,0 +1,29 @@
+// 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/DigitalInput.h>
+#include <frc/TimedRobot.h>
+
+/**
+ * Digital Input snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/digital-input-software.html
+ */
+class Robot : public frc::TimedRobot {
+ public:
+  void TeleopPeriodic() override {
+    // Gets the value of the digital input.  Returns true if the circuit is
+    // open.
+    m_input.Get();
+  }
+
+ private:
+  // Initializes a DigitalInput on DIO 0
+  frc::DigitalInput m_input{0};
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif

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

@@ -2,8 +2,6 @@
 // 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>
 

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

@@ -2,11 +2,8 @@
 // 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>
 
 /**

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

@@ -0,0 +1,54 @@
+// 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/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 +1,38 @@
+// 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/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/LimitSwitch/cpp/Robot.cpp

@@ -0,0 +1,50 @@
+// 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/DigitalInput.h>
+#include <frc/Encoder.h>
+#include <frc/Joystick.h>
+#include <frc/TimedRobot.h>
+#include <frc/motorcontrol/PWMVictorSPX.h>
+
+/**
+ * Limit Switch snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/limit-switch.html
+ */
+class Robot : public frc::TimedRobot {
+ public:
+  void TeleopPeriodic() override { SetMotorSpeed(m_joystick.GetRawAxis(2)); }
+  void SetMotorSpeed(double speed) {
+    if (speed > 0) {
+      if (m_toplimitSwitch.Get()) {
+        // We are going up and top limit is tripped so stop
+        m_motor.Set(0);
+      } else {
+        // We are going up but top limit is not tripped so go at commanded speed
+        m_motor.Set(speed);
+      }
+    } else {
+      if (m_bottomlimitSwitch.Get()) {
+        // We are going down and bottom limit is tripped so stop
+        m_motor.Set(0);
+      } else {
+        // We are going down but bottom limit is not tripped so go at commanded
+        // speed
+        m_motor.Set(speed);
+      }
+    }
+  }
+
+ private:
+  frc::DigitalInput m_toplimitSwitch{0};
+  frc::DigitalInput m_bottomlimitSwitch{1};
+  frc::PWMVictorSPX m_motor{0};
+  frc::Joystick m_joystick{0};
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif

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

@@ -19,5 +19,89 @@
     ],
     "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"
+  },
+  {
+    "name": "LimitSwitch",
+    "description": "Snippets of Limit Switch for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Digital Input"
+    ],
+    "foldername": "LimitSwitch",
+    "gradlebase": "cpp"
+  },
+  {
+    "name": "DigitalInput",
+    "description": "Snippets of Digital Input for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Digital Input"
+    ],
+    "foldername": "DigitalInput",
+    "gradlebase": "cpp"
+  },
+  {
+    "name": "AnalogInput",
+    "description": "Snippets of Analog Input for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Analog"
+    ],
+    "foldername": "AnalogInput",
+    "gradlebase": "cpp"
+  },
+  {
+    "name": "AnalogPotentiometer",
+    "description": "Snippets of Analog Potentiometer for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Analog"
+    ],
+    "foldername": "AnalogPotentiometer",
+    "gradlebase": "cpp"
+  },
+  {
+    "name": "AnalogAccelerometer",
+    "description": "Snippets of Analog Accelerometer for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Analog",
+      "Accelerometer"
+    ],
+    "foldername": "AnalogAccelerometer",
+    "gradlebase": "cpp"
   }
 ]