Added new sample programs to the eclipse plugins for C++ and Java.

Modified examples.xml for the corresponding added programs.

Change-Id: I3d86c570f446ec8cf3013c58dd94215f2907bbb1

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/Gyro/src/Robot.cpp

@@ -0,0 +1,86 @@
+#include "WPILib.h"
+
+/**
+ * This is a sample program to demonstrate how to use a gyro sensor to make a robot drive
+ * straight. This program uses a joystick to drive forwards and backwards while the gyro
+ * is used for direction keeping.
+ *
+ * WARNING: While it may look like a good choice to use for your code if you're inexperienced,
+ * don't. Unless you know what you are doing, complex code will be much more difficult under
+ * this system. Use IterativeRobot or Command-Based instead if you're new.
+ */
+class Robot: public SampleRobot {
+	 const int gyroChannel = 0; //analog input
+	 const int joystickChannel = 0; //usb number in DriverStation
+
+	 //channels for motors
+	 const int leftMotorChannel = 1;
+	 const int rightMotorChannel = 0;
+	 const int leftRearMotorChannel = 3;
+	 const int rightRearMotorChannel = 2;
+
+	 double angleSetpoint = 0.0;
+	 const double pGain = .005; //propotional turning constant
+
+	 //gyro calibration constant, may need to be adjusted
+	 //gyro value of 360 is set to correspond to one full revolution
+	 const double voltsPerDegreePerSecond = .0128;
+
+	 RobotDrive *myRobot;
+	 Gyro *gyro;
+	 Joystick *joystick;
+
+public:
+	Robot() :
+		SampleRobot()
+	{
+		//make objects for the drive train, gyro, and joystick
+		myRobot = new RobotDrive(new CANTalon(leftMotorChannel),
+				new CANTalon(leftRearMotorChannel),
+				new CANTalon(rightMotorChannel),
+				new CANTalon(rightRearMotorChannel));
+		gyro = new Gyro(gyroChannel);
+		joystick = new Joystick(joystickChannel);
+	}
+
+	/**
+	 * Runs during autonomous.
+	 */
+	void Autonomous()
+	{
+
+	}
+
+	/**
+	 * Sets the gyro sensitivity and drives the robot when the joystick is pushed. The
+	 * motor speed is set from the joystick while the RobotDrive turning value is
+	 * assigned from the error between the setpoint and the gyro angle.
+	 */
+	void OperatorControl()
+	{
+		double turningValue;
+		gyro->SetSensitivity(voltsPerDegreePerSecond); //calibrates gyro values to equal degrees
+
+		while (IsOperatorControl() && IsEnabled())
+		{
+			turningValue = (angleSetpoint - gyro->GetAngle()) * pGain;
+			if (joystick->GetY() <= 0) {
+				//forwards
+				myRobot->Drive(joystick->GetY(), turningValue);
+			} else {
+				//backwards
+				myRobot->Drive(joystick->GetY(), -turningValue);
+			}
+		}
+	}
+
+	/**
+	 * Runs during test mode.
+	 */
+	void Test()
+	{
+
+	}
+};
+
+START_ROBOT_CLASS(Robot);