Merge branch 'main' into 2027

wpilibcExamples/src/main/cpp/snippets/ProfiledPIDFeedforward/cpp/Robot.cpp

@@ -0,0 +1,54 @@
+// 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.
+
+#include <frc/Encoder.h>
+#include <frc/TimedRobot.h>
+#include <frc/controller/ProfiledPIDController.h>
+#include <frc/controller/SimpleMotorFeedforward.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
+#include <units/acceleration.h>
+#include <units/length.h>
+#include <units/velocity.h>
+#include <units/voltage.h>
+
+/**
+ * ProfiledPIDController with feedforward snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/controllers/profiled-pidcontroller.html
+ */
+class Robot : public frc::TimedRobot {
+ public:
+  Robot() { m_encoder.SetDistancePerPulse(1.0 / 256.0); }
+
+  // Controls a simple motor's position using a SimpleMotorFeedforward
+  // and a ProfiledPIDController
+  void GoToPosition(units::meter_t goalPosition) {
+    auto pidVal = m_controller.Calculate(
+        units::meter_t{m_encoder.GetDistance()}, goalPosition);
+    m_motor.SetVoltage(units::volt_t{pidVal} +
+                       m_feedforward.Calculate(
+                           m_lastSpeed, m_controller.GetSetpoint().velocity));
+    m_lastSpeed = m_controller.GetSetpoint().velocity;
+  }
+
+  void TeleopPeriodic() override {
+    // Example usage: move to position 10.0 meters
+    GoToPosition(10.0_m);
+  }
+
+ private:
+  frc::ProfiledPIDController<units::meters> m_controller{
+      1.0, 0.0, 0.0, {5_mps, 10_mps_sq}};
+  frc::SimpleMotorFeedforward<units::meters> m_feedforward{0.5_V, 1.5_V / 1_mps,
+                                                           0.3_V / 1_mps_sq};
+  frc::Encoder m_encoder{0, 1};
+  frc::PWMSparkMax m_motor{0};
+
+  units::meters_per_second_t m_lastSpeed = 0_mps;
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif

wpilibcExamples/src/main/cpp/snippets/snippets.json

@@ -146,5 +146,15 @@
     ],
     "foldername": "OnboardIMU",
     "gradlebase": "cpp"
+  },
+  {
+    "name": "ProfiledPIDFeedforward",
+    "description": "Snippets of ProfiledPIDController with feedforward for frc-docs.",
+    "tags": [
+      "PID",
+      "Profiled PID"
+    ],
+    "foldername": "ProfiledPIDFeedforward",
+    "gradlebase": "cpp"
   }
 ]