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include/pros/distance.h

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+/**
+ * \file pros/distance.h
+ * \ingroup c-distance
+ *
+ * Contains prototypes for functions related to the VEX Distance sensor.
+ *
+ * This file should not be modified by users, since it gets replaced whenever
+ * a kernel upgrade occurs.
+ *
+ * \copyright (c) 2017-2023, Purdue University ACM SIGBots.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ * 
+ * \defgroup c-distance VEX Distance Sensor C API
+ */
+
+#ifndef _PROS_DISTANCE_H_
+#define _PROS_DISTANCE_H_
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+namespace pros {
+namespace c {
+#endif
+
+/**
+ * \ingroup c-distance
+ */
+
+/**
+ * \addtogroup c-distance
+ *  @{
+ */
+
+/**
+ * Get the currently measured distance from the sensor in mm
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Distance Sensor
+ *
+ * \param port The V5 Distance Sensor port number from 1-21
+ * \return The distance value or PROS_ERR if the operation failed, setting
+ * errno.
+ * 
+ * \b Example
+ * \code
+ * #define DISTANCE_PORT 1
+ * 
+ * void opcontrol() {
+ *   while (true) {
+ *     printf("Distance Value: %d mm\n", distance_get(DISTANCE_PORT));
+ *     delay(20);
+ *   }
+ * }
+ * \endcode
+ */
+int32_t distance_get(uint8_t port);
+
+/**
+ * Get the confidence in the distance reading
+ *
+ * This is a value that has a range of 0 to 63. 63 means high confidence,
+ * lower values imply less confidence. Confidence is only available
+ * when distance is > 200mm (the value 10 is returned in this scenario).
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Distance Sensor
+ *
+ * \param  port The V5 Distance Sensor port number from 1-21
+ * \return The confidence value or PROS_ERR if the operation failed, setting
+ * errno.
+ * 
+ * \b Example
+ * \code
+ * #define DISTANCE_PORT 1
+ * 
+ * void opcontrol() {
+ *   while (true) {
+ *     printf("Distance Confidence Value: %d\n", distance_get_confidence(DISTANCE_PORT));
+ *     delay(20);
+ *   }
+ * }
+ * \endcode
+ */
+int32_t distance_get_confidence(uint8_t port);
+
+/**
+ * Get the current guess at relative object size
+ *
+ * This is a value that has a range of 0 to 400.
+ * A 18" x 30" grey card will return a value of approximately 75
+ * in typical room lighting.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Distance Sensor
+ *
+ * \param  port The V5 Distance Sensor port number from 1-21
+ * \return The size value or PROS_ERR if the operation failed, setting
+ * errno.
+ * 
+ * \b Example
+ * \code
+ * #define DISTANCE_PORT 1
+ * 
+ * void opcontrol() {
+ *   while (true) {
+ *     printf("Distance Object Size: %d\n", distance_get_object_size(DISTANCE_PORT));
+ *     delay(20);
+ *   }
+ * }
+ * \endcode
+ */
+int32_t distance_get_object_size(uint8_t port);
+
+/**
+ * Get the object velocity in m/s
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Distance Sensor
+ *
+ * \param  port The V5 Distance Sensor port number from 1-21
+ * \return The velocity value or PROS_ERR if the operation failed, setting
+ * errno.
+ * 
+ * \b Example
+ * \code
+ * #define DISTANCE_PORT 1
+ * 
+ * void opcontrol() {
+ *   while (true) {
+ *     printf("Distance Object Velocity: %f\n", distance_get_object_velocity(DISTANCE_PORT));
+ *     delay(20);
+ *   }
+ * }
+ * \endcode
+ */
+double distance_get_object_velocity(uint8_t port);
+
+///@}
+
+#ifdef __cplusplus
+}
+}
+}
+#endif
+
+#endif