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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();
+  }
+}