SCRIPT Move java files

wpilibjExamples/src/main/java/org/wpilib/snippets/accelerometercollision/Main.java

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+// 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.accelerometercollision;
+
+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/org/wpilib/snippets/accelerometercollision/Robot.java

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+// 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.accelerometercollision;
+
+import edu.wpi.first.wpilibj.OnboardIMU;
+import edu.wpi.first.wpilibj.OnboardIMU.MountOrientation;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ * Collision detection snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
+ */
+@SuppressWarnings("checkstyle:VariableDeclarationUsageDistance")
+public class Robot extends TimedRobot {
+  double m_prevXAccel;
+  double m_prevYAccel;
+  OnboardIMU m_accelerometer = new OnboardIMU(MountOrientation.kFlat);
+
+  @Override
+  public void robotPeriodic() {
+    // Gets the current accelerations in the X and Y directions
+    double xAccel = m_accelerometer.getAccelX();
+    double yAccel = m_accelerometer.getAccelY();
+    // Calculates the jerk in the X and Y directions
+    // Divides by .02 because default loop timing is 20ms
+    double xJerk = (xAccel - m_prevXAccel) / 0.02;
+    double yJerk = (yAccel - m_prevYAccel) / 0.02;
+    m_prevXAccel = xAccel;
+    m_prevYAccel = yAccel;
+
+    SmartDashboard.putNumber("X Jerk", xJerk);
+    SmartDashboard.putNumber("Y Jerk", yJerk);
+  }
+}

wpilibjExamples/src/main/java/org/wpilib/snippets/accelerometerfilter/Main.java

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+// 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.accelerometerfilter;
+
+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/org/wpilib/snippets/accelerometerfilter/Robot.java

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+// 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.accelerometerfilter;
+
+import edu.wpi.first.math.filter.LinearFilter;
+import edu.wpi.first.wpilibj.OnboardIMU;
+import edu.wpi.first.wpilibj.OnboardIMU.MountOrientation;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ * Accelerometer filtering snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
+ */
+public class Robot extends TimedRobot {
+  OnboardIMU m_accelerometer = new OnboardIMU(MountOrientation.kFlat);
+  // Create a LinearFilter that will calculate a moving average of the measured X acceleration over
+  // the past 10 iterations of the main loop
+  LinearFilter m_xAccelFilter = LinearFilter.movingAverage(10);
+
+  @Override
+  public void robotPeriodic() {
+    double xAccel = m_accelerometer.getAccelX();
+    // Get the filtered X acceleration
+    double filteredXAccel = m_xAccelFilter.calculate(xAccel);
+
+    SmartDashboard.putNumber("X Acceleration", xAccel);
+    SmartDashboard.putNumber("Filtered X Acceleration", filteredXAccel);
+  }
+}

wpilibjExamples/src/main/java/org/wpilib/snippets/adxlaccelerometers/Main.java

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+// 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.adxlaccelerometers;
+
+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/org/wpilib/snippets/adxlaccelerometers/Robot.java

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+// 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.adxlaccelerometers;
+
+import edu.wpi.first.wpilibj.ADXL345_I2C;
+import edu.wpi.first.wpilibj.I2C;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * ADXL345, 362 Accelerometer snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
+ */
+public class Robot extends TimedRobot {
+  // Creates an ADXL345 accelerometer object on the MXP I2C port
+  // with a measurement range from -8 to 8 G's
+  ADXL345_I2C m_accelerometer345I2C = new ADXL345_I2C(I2C.Port.kPort0, ADXL345_I2C.Range.k8G);
+
+  /** Called once at the beginning of the robot program. */
+  public Robot() {}
+
+  @Override
+  public void teleopPeriodic() {
+    // Gets the current acceleration in the X axis
+    m_accelerometer345I2C.getX();
+    // Gets the current acceleration in the Y axis
+    m_accelerometer345I2C.getY();
+    // Gets the current acceleration in the Z axis
+    m_accelerometer345I2C.getZ();
+  }
+}

wpilibjExamples/src/main/java/org/wpilib/snippets/analogaccelerometer/Main.java

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+// 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.analogaccelerometer;
+
+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/org/wpilib/snippets/analogaccelerometer/Robot.java

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+// 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.analogaccelerometer;
+
+import edu.wpi.first.wpilibj.AnalogAccelerometer;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * AnalogAccelerometer snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
+ */
+public class Robot extends TimedRobot {
+  // Creates an analog accelerometer on analog input 0
+  AnalogAccelerometer m_accelerometer = new AnalogAccelerometer(0);
+
+  /** Called once at the beginning of the robot program. */
+  public Robot() {
+    // Sets the sensitivity of the accelerometer to 1 volt per G
+    m_accelerometer.setSensitivity(1);
+    // Sets the zero voltage of the accelerometer to 3 volts
+    m_accelerometer.setZero(3);
+  }
+
+  @Override
+  public void teleopPeriodic() {
+    // Gets the current acceleration
+    m_accelerometer.getAcceleration();
+  }
+}

wpilibjExamples/src/main/java/org/wpilib/snippets/analogencoder/Main.java

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+// 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.analogencoder;
+
+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/org/wpilib/snippets/analogencoder/Robot.java

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+// 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.analogencoder;
+
+import edu.wpi.first.wpilibj.AnalogEncoder;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * AnalogEncoder snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/encoders-software.html
+ */
+public class Robot extends TimedRobot {
+  // Initializes an analog encoder on Analog Input pin 0
+  AnalogEncoder m_encoder = new AnalogEncoder(0);
+
+  // Initializes an analog 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)
+  AnalogEncoder m_encoderFR = new AnalogEncoder(0, 4.0, 2.0);
+
+  /** Called once at the beginning of the robot program. */
+  public Robot() {}
+
+  @Override
+  public void teleopPeriodic() {
+    // Gets the rotation
+    m_encoder.get();
+
+    m_encoderFR.get();
+  }
+}

wpilibjExamples/src/main/java/org/wpilib/snippets/analoginput/Main.java

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+// 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/org/wpilib/snippets/analoginput/Robot.java

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+// 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.AnalogInput;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * 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);
+
+  /** 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();
+  }
+}

wpilibjExamples/src/main/java/org/wpilib/snippets/analogpotentiometer/Main.java

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+// 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.analogpotentiometer;
+
+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/org/wpilib/snippets/analogpotentiometer/Robot.java

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+// 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.analogpotentiometer;
+
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.AnalogPotentiometer;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * AnalogPotentiometer snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/analog-poteniometers-software.html
+ */
+public class Robot extends TimedRobot {
+  // Initializes an AnalogPotentiometer on analog port 0
+  // The full range of motion (in meaningful external units) is 0-180 (this could be degrees, for
+  // instance)
+  // The "starting point" of the motion, i.e. where the mechanism is located when the potentiometer
+  // reads 0v, is 30.
+  AnalogPotentiometer m_pot = new AnalogPotentiometer(0, 180, 30);
+
+  // Initializes an AnalogInput on port 1
+  AnalogInput m_input = new AnalogInput(0);
+  // Initializes an AnalogPotentiometer with the given AnalogInput
+  // The full range of motion (in meaningful external units) is 0-180 (this could be degrees, for
+  // instance)
+  // The "starting point" of the motion, i.e. where the mechanism is located when the potentiometer
+  // reads 0v, is 30.
+  AnalogPotentiometer m_pot1 = new AnalogPotentiometer(m_input, 180, 30);
+
+  /** Called once at the beginning of the robot program. */
+  public Robot() {
+    // Set averaging bits to 2
+    m_input.setAverageBits(2);
+  }
+
+  @Override
+  public void teleopPeriodic() {
+    // Get the value of the potentiometer
+    m_pot.get();
+
+    m_pot1.get();
+  }
+}

wpilibjExamples/src/main/java/org/wpilib/snippets/digitalinput/Main.java

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+// 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.digitalinput;
+
+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/org/wpilib/snippets/digitalinput/Robot.java

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+// 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.digitalinput;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * DigitalInput snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/digital-inputs-software.html
+ */
+public class Robot extends TimedRobot {
+  // Initializes a DigitalInput on DIO 0
+  DigitalInput m_input = new DigitalInput(0);
+
+  @Override
+  public void teleopPeriodic() {
+    // Gets the value of the digital input.  Returns true if the circuit is open.
+    m_input.get();
+  }
+}

wpilibjExamples/src/main/java/org/wpilib/snippets/dutycycleencoder/Main.java

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+// 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.dutycycleencoder;
+
+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/org/wpilib/snippets/dutycycleencoder/Robot.java

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+// 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.dutycycleencoder;
+
+import edu.wpi.first.wpilibj.DutyCycleEncoder;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * DutyCycleEncoder snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/encoders-software.html
+ */
+public class Robot extends TimedRobot {
+  // Initializes a duty cycle encoder on DIO pins 0
+  DutyCycleEncoder m_encoder = new DutyCycleEncoder(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)
+  DutyCycleEncoder m_encoderFR = new DutyCycleEncoder(0, 4.0, 2.0);
+
+  /** Called once at the beginning of the robot program. */
+  public Robot() {}
+
+  @Override
+  public void teleopPeriodic() {
+    // Gets the rotation
+    m_encoder.get();
+
+    // Gets if the encoder is connected
+    m_encoder.isConnected();
+
+    m_encoderFR.get();
+  }
+}

wpilibjExamples/src/main/java/org/wpilib/snippets/encoder/Main.java

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+// 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.encoder;
+
+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/org/wpilib/snippets/encoder/Robot.java

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+// 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.encoder;
+
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * Encoder snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/encoders-software.html
+ */
+@SuppressWarnings("deprecation")
+public class Robot extends TimedRobot {
+  // Initializes an encoder on DIO pins 0 and 1
+  // Defaults to 4X decoding and non-inverted
+  Encoder m_encoder = new Encoder(0, 1);
+
+  // Initializes an encoder on DIO pins 0 and 1
+  // 2X encoding and non-inverted
+  Encoder m_encoder2x = new Encoder(0, 1, false, Encoder.EncodingType.k2X);
+
+  /** Called once at the beginning of the robot program. */
+  public Robot() {
+    // Configures the encoder to return a distance of 4 for every 256 pulses
+    // Also changes the units of getRate
+    m_encoder.setDistancePerPulse(4.0 / 256.0);
+    // Configures the encoder to consider itself stopped after .1 seconds
+    m_encoder.setMaxPeriod(0.1);
+    // Configures the encoder to consider itself stopped when its rate is below 10
+    m_encoder.setMinRate(10);
+    // Reverses the direction of the encoder
+    m_encoder.setReverseDirection(true);
+    // Configures an encoder to average its period measurement over 5 samples
+    // Can be between 1 and 127 samples
+    m_encoder.setSamplesToAverage(5);
+
+    m_encoder2x.getRate();
+  }
+
+  @Override
+  public void teleopPeriodic() {
+    // Gets the distance traveled
+    m_encoder.getDistance();
+
+    // Gets the current rate of the encoder
+    m_encoder.getRate();
+
+    // Gets whether the encoder is stopped
+    m_encoder.getStopped();
+
+    // Gets the last direction in which the encoder moved
+    m_encoder.getDirection();
+
+    // Gets the current period of the encoder
+    m_encoder.getPeriod();
+
+    // Resets the encoder to read a distance of zero
+    m_encoder.reset();
+  }
+}

wpilibjExamples/src/main/java/org/wpilib/snippets/encoderdrive/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.encoderdrive;
+
+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/org/wpilib/snippets/encoderdrive/Robot.java

@@ -0,0 +1,48 @@
+// 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.encoderdrive;
+
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
+
+/**
+ * Encoder drive to distance snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/encoders-software.html
+ */
+public class Robot extends TimedRobot {
+  // Creates an encoder on DIO ports 0 and 1
+  Encoder m_encoder = new Encoder(0, 1);
+  // Initialize motor controllers and drive
+  Spark m_leftLeader = new Spark(0);
+  Spark m_leftFollower = new Spark(1);
+  Spark m_rightLeader = new Spark(2);
+  Spark m_rightFollower = new Spark(3);
+  DifferentialDrive m_drive = new DifferentialDrive(m_leftLeader::set, m_rightLeader::set);
+
+  /** Called once at the beginning of the robot program. */
+  public Robot() {
+    // Configures the encoder's distance-per-pulse
+    // The robot moves forward 1 foot per encoder rotation
+    // There are 256 pulses per encoder rotation
+    m_encoder.setDistancePerPulse(1.0 / 256.0);
+    // Invert the right side of the drivetrain. You might have to invert the other side
+    m_rightLeader.setInverted(true);
+    // Configure the followers to follow the leaders
+    m_leftLeader.addFollower(m_leftFollower);
+    m_rightLeader.addFollower(m_rightFollower);
+  }
+
+  /** Drives forward at half speed until the robot has moved 5 feet, then stops. */
+  @Override
+  public void autonomousPeriodic() {
+    if (m_encoder.getDistance() < 5.0) {
+      m_drive.tankDrive(0.5, 0.5);
+    } else {
+      m_drive.tankDrive(0.0, 0.0);
+    }
+  }
+}

wpilibjExamples/src/main/java/org/wpilib/snippets/encoderhoming/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.encoderhoming;
+
+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/org/wpilib/snippets/encoderhoming/Robot.java

@@ -0,0 +1,35 @@
+// 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.encoderhoming;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
+
+/**
+ * Encoder mechanism homing snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/encoders-software.html
+ */
+public class Robot extends TimedRobot {
+  Encoder m_encoder = new Encoder(0, 1);
+  Spark m_spark = new Spark(0);
+  // Limit switch on DIO 2
+  DigitalInput m_limit = new DigitalInput(2);
+
+  /**
+   * Runs the motor backwards at half speed until the limit switch is pressed then turn off the
+   * motor and reset the encoder.
+   */
+  @Override
+  public void autonomousPeriodic() {
+    if (!m_limit.get()) {
+      m_spark.set(-0.5);
+    } else {
+      m_spark.set(0.0);
+      m_encoder.reset();
+    }
+  }
+}

wpilibjExamples/src/main/java/org/wpilib/snippets/limitswitch/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.limitswitch;
+
+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/org/wpilib/snippets/limitswitch/Robot.java

@@ -0,0 +1,51 @@
+// 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.limitswitch;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
+
+/**
+ * Limit Switch snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/limit-switch.html
+ */
+public class Robot extends TimedRobot {
+  DigitalInput m_toplimitSwitch = new DigitalInput(0);
+  DigitalInput m_bottomlimitSwitch = new DigitalInput(1);
+  PWMVictorSPX m_motor = new PWMVictorSPX(0);
+  Joystick m_joystick = new Joystick(0);
+
+  @Override
+  public void teleopPeriodic() {
+    setMotorSpeed(m_joystick.getRawAxis(2));
+  }
+
+  /**
+   * Sets the motor speed based on joystick input while respecting limit switches.
+   *
+   * @param speed the desired speed of the motor, positive for up and negative for down
+   */
+  public void setMotorSpeed(double speed) {
+    if (speed > 0) {
+      if (m_toplimitSwitch.get()) {
+        // We are going up and top limit is tripped so stop
+        m_motor.set(0);
+      } else {
+        // We are going up but top limit is not tripped so go at commanded speed
+        m_motor.set(speed);
+      }
+    } else {
+      if (m_bottomlimitSwitch.get()) {
+        // We are going down and bottom limit is tripped so stop
+        m_motor.set(0);
+      } else {
+        // We are going down but bottom limit is not tripped so go at commanded speed
+        m_motor.set(speed);
+      }
+    }
+  }
+}

wpilibjExamples/src/main/java/org/wpilib/snippets/onboardimu/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.onboardimu;
+
+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/org/wpilib/snippets/onboardimu/Robot.java

@@ -0,0 +1,41 @@
+// 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.onboardimu;
+
+import edu.wpi.first.wpilibj.OnboardIMU;
+import edu.wpi.first.wpilibj.OnboardIMU.MountOrientation;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * on board IMU snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
+ */
+public class Robot extends TimedRobot {
+  // Creates an object for the on board IMU
+  OnboardIMU m_iMU = new OnboardIMU(MountOrientation.kFlat);
+
+  /** Called once at the beginning of the robot program. */
+  public Robot() {}
+
+  @Override
+  public void teleopPeriodic() {
+    // Gets the current acceleration in the X axis
+    m_iMU.getAccelX();
+    // Gets the current acceleration in the Y axis
+    m_iMU.getAccelY();
+    // Gets the current acceleration in the Z axis
+    m_iMU.getAccelZ();
+
+    // Gets the current angle in the X axis
+    m_iMU.getAngleX();
+    // Gets the current angle in the Y axis
+    m_iMU.getAngleY();
+    // Gets the current angle in the Z axis
+    m_iMU.getAngleZ();
+
+    // Gets the current angle as a Rotation2D
+    m_iMU.getRotation2d();
+  }
+}

wpilibjExamples/src/main/java/org/wpilib/snippets/profiledpidfeedforward/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.profiledpidfeedforward;
+
+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/org/wpilib/snippets/profiledpidfeedforward/Robot.java

@@ -0,0 +1,49 @@
+// 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.profiledpidfeedforward;
+
+import edu.wpi.first.math.controller.ProfiledPIDController;
+import edu.wpi.first.math.controller.SimpleMotorFeedforward;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
+
+/**
+ * ProfiledPIDController with feedforward snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/controllers/profiled-pidcontroller.html
+ */
+public class Robot extends TimedRobot {
+  private final ProfiledPIDController m_controller =
+      new ProfiledPIDController(1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(5.0, 10.0));
+  private final SimpleMotorFeedforward m_feedforward = new SimpleMotorFeedforward(0.5, 1.5, 0.3);
+  private final Encoder m_encoder = new Encoder(0, 1);
+  private final PWMSparkMax m_motor = new PWMSparkMax(0);
+
+  double m_lastSpeed;
+
+  /** Called once at the beginning of the robot program. */
+  public Robot() {
+    m_encoder.setDistancePerPulse(1.0 / 256.0);
+  }
+
+  /**
+   * Controls a simple motor's position using a SimpleMotorFeedforward and a ProfiledPIDController.
+   *
+   * @param goalPosition the desired position
+   */
+  public void goToPosition(double goalPosition) {
+    double pidVal = m_controller.calculate(m_encoder.getDistance(), goalPosition);
+    m_motor.setVoltage(
+        pidVal + m_feedforward.calculate(m_lastSpeed, m_controller.getSetpoint().velocity));
+    m_lastSpeed = m_controller.getSetpoint().velocity;
+  }
+
+  @Override
+  public void teleopPeriodic() {
+    // Example usage: move to position 10.0
+    goToPosition(10.0);
+  }
+}

wpilibjExamples/src/main/java/org/wpilib/snippets/snippets.json

@@ -0,0 +1,175 @@
+[
+  {
+    "name": "Encoder",
+    "description": "Snippets of Encoder class usage for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Encoder"
+    ],
+    "foldername": "encoder",
+    "gradlebase": "java",
+    "mainclass": "Main"
+  },
+  {
+    "name": "DutyCycleEncoder",
+    "description": "Snippets of DutyCycleEncoder class usage for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Encoder",
+      "Duty Cycle"
+    ],
+    "foldername": "dutycycleencoder",
+    "gradlebase": "java",
+    "mainclass": "Main"
+  },
+  {
+    "name": "AnalogEncoder",
+    "description": "Snippets of AnalogEncoder class usage for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Encoder",
+      "Analog"
+    ],
+    "foldername": "analogencoder",
+    "gradlebase": "java",
+    "mainclass": "Main"
+  },
+  {
+    "name": "EncoderDrive",
+    "description": "Snippets of driving to a distance for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Encoder",
+      "Differential Drive"
+    ],
+    "foldername": "encoderdrive",
+    "gradlebase": "java",
+    "mainclass": "Main"
+  },
+  {
+    "name": "EncoderHoming",
+    "description": "Snippets of homing a mechanism for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Encoder",
+      "Digital Input"
+    ],
+    "foldername": "encoderhoming",
+    "gradlebase": "java",
+    "mainclass": "Main"
+  },
+  {
+    "name": "LimitSwitch",
+    "description": "Snippets of Limit Switch for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Digital Input"
+    ],
+    "foldername": "limitswitch",
+    "gradlebase": "java",
+    "mainclass": "Main"
+  },
+  {
+    "name": "DigitalInput",
+    "description": "Snippets of Digital Input for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Digital Input"
+    ],
+    "foldername": "digitalinput",
+    "gradlebase": "java",
+    "mainclass": "Main"
+  },
+  {
+    "name": "AnalogInput",
+    "description": "Snippets of Analog Input for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Analog"
+    ],
+    "foldername": "analoginput",
+    "gradlebase": "java",
+    "mainclass": "Main"
+  },
+  {
+    "name": "AnalogPotentiometer",
+    "description": "Snippets of Analog Potentiometer for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Analog"
+    ],
+    "foldername": "analogpotentiometer",
+    "gradlebase": "java",
+    "mainclass": "Main"
+  },
+  {
+    "name": "AnalogAccelerometer",
+    "description": "Snippets of Analog Accelerometer for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Analog",
+      "Accelerometer"
+    ],
+    "foldername": "analogaccelerometer",
+    "gradlebase": "java",
+    "mainclass": "Main"
+  },
+  {
+    "name": "AccelerometerCollisionDetection",
+    "description": "Snippets of Accelerometer for collision detection for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Accelerometer",
+      "IMU"
+    ],
+    "foldername": "accelerometercollision",
+    "gradlebase": "java",
+    "mainclass": "Main"
+  },
+  {
+    "name": "AccelerometerFilter",
+    "description": "Snippets of filtering Accelerometer for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Accelerometer",
+      "IMU"
+    ],
+    "foldername": "accelerometerfilter",
+    "gradlebase": "java",
+    "mainclass": "Main"
+  },
+  {
+    "name": "ADXLAccelerometers",
+    "description": "Snippets of ADXL 345 and 362 accelerometers for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Accelerometer"
+    ],
+    "foldername": "adxlaccelerometers",
+    "gradlebase": "java",
+    "mainclass": "Main"
+  },
+  {
+    "name": "OnboardIMU",
+    "description": "Snippets of Onboard IMU for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Accelerometer",
+      "IMU"
+    ],
+    "foldername": "onboardimu",
+    "gradlebase": "java",
+    "mainclass": "Main"
+  },
+  {
+    "name": "ProfiledPIDFeedforward",
+    "description": "Snippets of ProfiledPIDController with feedforward for frc-docs.",
+    "tags": [
+      "PID",
+      "Profiled PID"
+    ],
+    "foldername": "profiledpidfeedforward",
+    "gradlebase": "java",
+    "mainclass": "Robot"
+  }
+]