[examples] Add AnalogInput snippets (#7951)

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

@@ -0,0 +1,76 @@
+// 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.analoginput;
+
+import edu.wpi.first.hal.AccumulatorResult;
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ * AnalogInput snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/analog-inputs-software.html
+ */
+public class Robot extends TimedRobot {
+  // Initializes an AnalogInput on port 0
+  AnalogInput m_analog = new AnalogInput(0);
+
+  // Instantiate an AccumulatorResult object to hold the matched measurements
+  AccumulatorResult m_result = new AccumulatorResult();
+
+  /** Called once at the beginning of the robot program. */
+  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);
+  }
+
+  @Override
+  public void teleopPeriodic() {
+    // 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();
+
+    // Fill the AccumulatorResult with the matched measurements
+    m_analog.getAccumulatorOutput(m_result);
+    // Read the values from the AccumulatorResult
+    long count = m_result.count;
+    long value = m_result.value;
+
+    SmartDashboard.putNumber("Accumulator Count", count);
+    SmartDashboard.putNumber("Accumulator Value", value);
+  }
+}

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

@@ -91,5 +91,16 @@
     "foldername": "analogtrigger",
     "gradlebase": "java",
     "mainclass": "Main"
+  },
+  {
+    "name": "AnalogInput",
+    "description": "Snippets of Analog Input for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Analog"
+    ],
+    "foldername": "analoginput",
+    "gradlebase": "java",
+    "mainclass": "Main"
   }
 ]