[examples] Add Accelerometer filtering snippets

wpilibcExamples/src/main/cpp/snippets/AccelerometerFilter/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/BuiltInAccelerometer.h>
+#include <frc/TimedRobot.h>
+#include <frc/filter/LinearFilter.h>
+#include <frc/smartdashboard/SmartDashboard.h>
+
+/**
+ * Accelerometer filtering snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
+ */
+class Robot : public frc::TimedRobot {
+ public:
+  void RobotPeriodic() override {
+    double XAccel = m_accelerometer.GetX();
+    // Get the filtered X acceleration
+    double filteredXAccel = m_xAccelFilter.Calculate(XAccel);
+
+    frc::SmartDashboard::PutNumber("X Acceleration", XAccel);
+    frc::SmartDashboard::PutNumber("Filtered X Acceleration", filteredXAccel);
+  }
+
+ private:
+  frc::BuiltInAccelerometer m_accelerometer;
+  frc::LinearFilter<double> m_xAccelFilter =
+      frc::LinearFilter<double>::MovingAverage(10);
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif

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

@@ -144,5 +144,15 @@
     ],
     "foldername": "AccelerometerCollision",
     "gradlebase": "cpp"
+  },
+  {
+    "name": "AccelerometerFilter",
+    "description": "Snippets of filterning Accelerometer for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Accelerometer"
+    ],
+    "foldername": "AccelerometerFilter",
+    "gradlebase": "cpp"
   }
 ]