Merge branch 'main' into 2027

wpilibcExamples/src/main/cpp/examples/Xrptimed/include/Robot.hpp

@@ -0,0 +1,32 @@
+// 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.
+
+#pragma once
+
+#include "wpi/drive/DifferentialDrive.hpp"
+#include "wpi/driverstation/Joystick.hpp"
+#include "wpi/framework/TimedRobot.hpp"
+#include "wpi/system/Timer.hpp"
+#include "wpi/xrp/XRPMotor.hpp"
+
+class Robot : public wpi::TimedRobot {
+ public:
+  Robot();
+  void RobotPeriodic() override;
+  void AutonomousInit() override;
+  void AutonomousPeriodic() override;
+  void TeleopInit() override;
+  void TeleopPeriodic() override;
+
+ private:
+  wpi::xrp::XRPMotor m_leftMotor{0};
+  wpi::xrp::XRPMotor m_rightMotor{1};
+  // Assumes a gamepad plugged into channel 0
+  wpi::Joystick m_controller{0};
+  wpi::Timer m_timer;
+
+  wpi::DifferentialDrive m_drive{
+      [&](double output) { m_leftMotor.Set(output); },
+      [&](double output) { m_rightMotor.Set(output); }};
+};