[examples] Add AnalogInput snippets (#7951)

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

@@ -0,0 +1,75 @@
+// 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>
+
+/**
+ * AnalogEncoder 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();
+
+    // Sets the initial value of the accumulator to 0
+    // This is the "starting point" from which the value will change over time
+    m_analog.SetAccumulatorInitialValue(0);
+    // Sets the "center" of the accumulator to 0.  This value is subtracted from
+    // all measured values prior to accumulation.
+    m_analog.SetAccumulatorCenter(0);
+    // Returns the number of accumulated samples since the accumulator was last
+    // started/reset
+    m_analog.GetAccumulatorCount();
+    // Returns the value of the accumulator.  Return type is long.
+    m_analog.GetAccumulatorValue();
+    // Resets the accumulator to the initial value
+    m_analog.ResetAccumulator();
+  }
+
+  void TeleopPeriodic() override {
+    // Fill the count and value variables with the matched measurements
+    m_analog.GetAccumulatorOutput(count, value);
+  }
+
+ 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/snippets.json

@@ -83,5 +83,15 @@
     ],
     "foldername": "AnalogTrigger",
     "gradlebase": "cpp"
+  },
+  {
+    "name": "AnalogInput",
+    "description": "Snippets of Analog Input for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Analog"
+    ],
+    "foldername": "AnalogInput",
+    "gradlebase": "cpp"
   }
 ]