[examples] Add DutyCycleEncoder Snippets (#7930)

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

@@ -8,5 +8,16 @@
     ],
     "foldername": "Encoder",
     "gradlebase": "cpp"
+  },
+  {
+    "name": "DutyCycleEncoder",
+    "description": "Snippets of DutyCycleEncoder class usage for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Encoder",
+      "Duty Cycle"
+    ],
+    "foldername": "DutyCycleEncoder",
+    "gradlebase": "cpp"
   }
 ]