[examples] Add ADXL 345 and 362 snippets

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

@@ -0,0 +1,66 @@
+// 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/ADXL345_I2C.h>
+#include <frc/ADXL345_SPI.h>
+#include <frc/ADXL362.h>
+#include <frc/AnalogAccelerometer.h>
+#include <frc/AnalogInput.h>
+#include <frc/I2C.h>
+#include <frc/SPI.h>
+#include <frc/TimedRobot.h>
+
+/**
+ * ADXL346, 362 Accelerometer snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
+ */
+class Robot : public frc::TimedRobot {
+ public:
+  Robot() {}
+
+  void TeleopPeriodic() override {
+    // 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();
+
+    // Gets the current acceleration in the X axis
+    m_accelerometer345SPI.GetX();
+    // Gets the current acceleration in the Y axis
+    m_accelerometer345SPI.GetY();
+    // Gets the current acceleration in the Z axis
+    m_accelerometer345SPI.GetZ();
+
+    // Gets the current acceleration in the X axis
+    m_accelerometer362.GetX();
+    // Gets the current acceleration in the Y axis
+    m_accelerometer362.GetY();
+    // Gets the current acceleration in the Z axis
+    m_accelerometer362.GetZ();
+  }
+
+ private:
+  // Creates an ADXL345 accelerometer object on the MXP I2C port
+  // with a measurement range from -8 to 8 G's
+  frc::ADXL345_I2C m_accelerometer345I2C{frc::I2C::Port::kMXP,
+                                         frc::ADXL345_I2C::Range::kRange_8G};
+
+  // Creates an ADXL345 accelerometer object on the MXP SPI port
+  // with a measurement range from -8 to 8 G's
+  frc::ADXL345_SPI m_accelerometer345SPI{frc::SPI::Port::kMXP,
+                                         frc::ADXL345_SPI::Range::kRange_8G};
+
+  // Creates an ADXL362 accelerometer object on the MXP SPI port
+  // with a measurement range from -8 to 8 G's
+  frc::ADXL362 m_accelerometer362{frc::SPI::Port::kMXP,
+                                  frc::ADXL362::Range::kRange_8G};
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif

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

@@ -114,5 +114,15 @@
     ],
     "foldername": "AnalogAccelerometer",
     "gradlebase": "cpp"
+  },
+  {
+    "name": "ADXLAccelerometers",
+    "description": "Snippets of ADXL 345 and 362 Accelerometers for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Accelerometer"
+    ],
+    "foldername": "ADXLAccelerometers",
+    "gradlebase": "cpp"
   }
 ]