Replace deprecated feedforward.calculate(velocity, acceleration) (2027) (#3179)

* Replace deprecated feedforward.calculate(velocity, acceleration) (#3117)

* Replace deprecated feedforward.calculate(velocity, acceleration)

Update ProfiledPIDController documentation to use the recommended
feedforward.calculate(currentVelocity, nextVelocity) overload instead
of the deprecated (velocity, acceleration) version.

This eliminates manual acceleration calculations and uses the newer
API that calculates acceleration internally from velocity change.

Fixes #2963

* Convert ProfiledPIDController feedforward example to use snippets

Replace inline code blocks with RLIs to snippets from allwpilib.
Java and C++ examples now reference compilable snippet code that
will be tested in every allwpilib build.

Python remains as inline code block since Python snippets are
maintained in robotpy repository.

Related: wpilibsuite/allwpilib#8280

* Manually update RLI

---------

Co-authored-by: sciencewhiz <[email protected]>

* Autofix RLIs

* Revert "Autofix RLIs"

This reverts commit 084297c.

* Use 2027 commit hash

* Use commit before reorg

* fix line-nos

Co-authored-by: Ryan Blue <[email protected]>

---------

Co-authored-by: Jason Daming <[email protected]>
Co-authored-by: github-actions <[email protected]>
Co-authored-by: Ryan Blue <[email protected]>

Author: 4 people

source/docs/software/advanced-controls/controllers/profiled-pidcontroller.rst

@@ -84,58 +84,31 @@ The returned setpoint might then be used as in the following example:
 
 .. tab-set-code::
 
-  ```java
-  double lastSpeed = 0;
-  double lastTime = Timer.getFPGATimestamp();
-    // Controls a simple motor's position using a SimpleMotorFeedforward
-  // and a ProfiledPIDController
-  public void goToPosition(double goalPosition) {
-    double pidVal = controller.calculate(encoder.getDistance(), goalPosition);
-    double acceleration = (controller.getSetpoint().velocity - lastSpeed) / (Timer.getFPGATimestamp() - lastTime);
-    motor.setVoltage(
-        pidVal
-        + feedforward.calculate(controller.getSetpoint().velocity, acceleration));
-    lastSpeed = controller.getSetpoint().velocity;
-    lastTime = Timer.getFPGATimestamp();
-  }
-  ```
-
-  ```c++
-  units::meters_per_second_t lastSpeed = 0_mps;
-  units::second_t lastTime = frc2::Timer::GetFPGATimestamp();
-    // Controls a simple motor's position using a SimpleMotorFeedforward
-  // and a ProfiledPIDController
-  void GoToPosition(units::meter_t goalPosition) {
-    auto pidVal = controller.Calculate(units::meter_t{encoder.GetDistance()}, goalPosition);
-    auto acceleration = (controller.GetSetpoint().velocity - lastSpeed) /
-        (frc2::Timer::GetFPGATimestamp() - lastTime);
-    motor.SetVoltage(
-         pidVal +
-        feedforward.Calculate(controller.GetSetpoint().velocity, acceleration));
-    lastSpeed = controller.GetSetpoint().velocity;
-    lastTime = frc2::Timer::GetFPGATimestamp();
-  }
-  ```
-
-  ```python
-  from wpilib import Timer
-  from wpilib.controller import ProfiledPIDController
-  from wpilib.controller import SimpleMotorFeedforward
-  def __init__(self):
-      # Assuming encoder, motor, controller are already defined
-      self.lastSpeed = 0
-      self.lastTime = Timer.getFPGATimestamp()
-      # Assuming feedforward is a SimpleMotorFeedforward object
-      self.feedforward = SimpleMotorFeedforward(ks=0.0, kv=0.0, ka=0.0)
-  def goToPosition(self, goalPosition: float):
-      pidVal = self.controller.calculate(self.encoder.getDistance(), goalPosition)
-      acceleration = (self.controller.getSetpoint().velocity - self.lastSpeed) / (Timer.getFPGATimestamp() - self.lastTime)
-      self.motor.setVoltage(
-          pidVal
-          + self.feedforward.calculate(self.controller.getSetpoint().velocity, acceleration))
-      self.lastSpeed = controller.getSetpoint().velocity
-      self.lastTime = Timer.getFPGATimestamp()
-  ```
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/3f88c287d6007f6be9fc5409aa9c42d41a504005/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/profiledpidfeedforward/Robot.java
+      :language: java
+      :lines: 37-42
+      :lineno-match:
+
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/3f88c287d6007f6be9fc5409aa9c42d41a504005/wpilibcExamples/src/main/cpp/snippets/ProfiledPIDFeedforward/cpp/Robot.cpp
+      :language: c++
+      :lines: 25-32
+      :lineno-match:
+
+   .. code-block:: python
+
+      from wpilib.controller import ProfiledPIDController
+      from wpilib.controller import SimpleMotorFeedforward
+      def __init__(self):
+          # Assuming encoder, motor, controller are already defined
+          self.lastSpeed = 0
+          # Assuming feedforward is a SimpleMotorFeedforward object
+          self.feedforward = SimpleMotorFeedforward(ks=0.0, kv=0.0, ka=0.0)
+      def goToPosition(self, goalPosition: float):
+          pidVal = self.controller.calculate(self.encoder.getDistance(), goalPosition)
+          self.motor.setVoltage(
+              pidVal
+              + self.feedforward.calculate(self.lastSpeed, self.controller.getSetpoint().velocity))
+          self.lastSpeed = self.controller.getSetpoint().velocity
 
 ## Complete Usage Example