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/**
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* \file pros/rotation.h
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* \ingroup c-rotation
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*
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* Contains prototypes for functions related to the VEX Rotation Sensor.
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*
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* This file should not be modified by users, since it gets replaced whenever
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* a kernel upgrade occurs.
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*
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* \copyright (c) 2017-2023, Purdue University ACM SIGBots.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*
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* \defgroup c-rotation VEX Rotation Sensor C API
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*/
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#ifndef _PROS_ROTATION_H_
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#define _PROS_ROTATION_H_
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#include <stdbool.h>
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#include <stdint.h>
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#ifdef __cplusplus
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extern "C" {
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namespace pros {
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namespace c {
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#endif
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/**
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* \ingroup c-rotation
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*/
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/**
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* \addtogroup c-rotation
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* @{
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*/
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#define ROTATION_MINIMUM_DATA_RATE 5
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/**
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* Reset Rotation Sensor
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*
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* Reset the current absolute position to be the same as the
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* Rotation Sensor angle.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Rotation Sensor
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*
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* \param port
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* The V5 Rotation Sensor port number from 1-21
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*
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* \b Example
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* \code
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* #define ROTATION_PORT 1
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*
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* void opcontrol() {
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* while (true) {
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*
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* if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
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* rotation_reset(ROTATION_PORT);
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* }
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* delay(20);
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* }
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* }
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* \endcode
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*/
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int32_t rotation_reset(uint8_t port);
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/**
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* Set the Rotation Sensor's refresh interval in milliseconds.
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*
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* The rate may be specified in increments of 5ms, and will be rounded down to
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* the nearest increment. The minimum allowable refresh rate is 5ms. The default
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* rate is 10ms.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Rotation Sensor
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*
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* \param port
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* The V5 Rotation Sensor port number from 1-21
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* \param rate The data refresh interval in milliseconds
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*
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* \b Example
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* \code
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* #define ROTATION_PORT 1
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*
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* void initialize() {
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* pros::Rotation rotation_sensor(ROTATION_PORT);
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* rotation_set_data_rate(ROTATION_PORT, 5);
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* }
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* \endcode
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*/
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int32_t rotation_set_data_rate(uint8_t port, uint32_t rate);
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/**
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* Set the Rotation Sensor position reading to a desired rotation value
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Rotation Sensor
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*
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* \param port
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* The V5 Rotation Sensor port number from 1-21
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* \param position
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* The position in terms of ticks
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*
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* \b Example
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* \code
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* #define ROTATION_PORT 1
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*
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* void opcontrol() {
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* while (true) {
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*
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* if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
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* rotation_set_position(ROTATION_PORT, 600);
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* }
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* delay(20);
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* }
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* }
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* \endcode
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*/
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int32_t rotation_set_position(uint8_t port, uint32_t position);
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/**
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* Reset the Rotation Sensor position to 0
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Rotation Sensor
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*
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* \param port
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* The V5 Rotation Sensor port number from 1-21
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*
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* \b Example
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* \code
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* #define ROTATION_PORT 1
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*
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* void opcontrol() {
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* while (true) {
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*
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* if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
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* rotation_reset_position(ROTATION_PORT);
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* }
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* delay(20);
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* }
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* }
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* \endcode
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*/
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int32_t rotation_reset_position(uint8_t port);
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/**
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* Get the Rotation Sensor's current position in centidegrees
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Rotation Sensor
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*
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* \param port
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* The V5 Rotation Sensor port number from 1-21
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* \return The position value or PROS_ERR_F if the operation failed, setting
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* errno.
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*
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* \b Example
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* \code
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* #define ROTATION_PORT 1
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*
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* void opcontrol() {
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* while (true) {
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* printf("Position: %d centidegrees \n", rotation_get_position(ROTATION_PORT));
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* delay(20);
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* }
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* }
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* \endcode
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*/
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int32_t rotation_get_position(uint8_t port);
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/**
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* Get the Rotation Sensor's current velocity in centidegrees per second
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Rotation Sensor
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*
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* \param port
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* The V5 Rotation Sensor port number from 1-21
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* \return The velocity value or PROS_ERR_F if the operation failed, setting
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* errno.
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*
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* \b Example
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* \code
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* #define ROTATION_PORT 1
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*
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* void opcontrol() {
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* while (true) {
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* printf("Velocity: %d centidegrees per second \n", rotation_get_velocity(ROTATION_PORT));
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* delay(20);
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* }
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* }
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* \endcode
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*/
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int32_t rotation_get_velocity(uint8_t port);
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/**
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* Get the Rotation Sensor's current angle in centidegrees (0-36000)
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Rotation Sensor
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*
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* \param port
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* The V5 Rotation Sensor port number from 1-21
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* \return The angle value (0-36000) or PROS_ERR_F if the operation failed, setting
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* errno.
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*
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* \b Example
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* \code
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* #define ROTATION_PORT 1
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*
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* void opcontrol() {
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* while (true) {
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* printf("Angle: %d centidegrees \n", rotation_get_angle(ROTATION_PORT));
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* delay(20);
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* }
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* }
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* \endcode
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*/
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int32_t rotation_get_angle(uint8_t port);
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/**
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* Set the Rotation Sensor's direction reversed flag
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Rotation Sensor
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*
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* \param port
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* The V5 Rotation Sensor port number from 1-21
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* \param value
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* Determines if the direction of the Rotation Sensor is reversed or not.
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*
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* \return 1 if operation succeeded or PROS_ERR if the operation failed, setting
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* errno.
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*
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* \b Example
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* \code
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* #define ROTATION_PORT 1
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*
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* void opcontrol() {
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* Rotation rotation_sensor(ROTATION_PORT);
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* while (true) {
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*
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* if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
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* rotation_set_reversed(ROTATION_PORT, true); // Reverses the Rotation Sensor on ROTATION_PORT
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* }
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* delay(20);
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* }
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* }
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* \endcode
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*/
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int32_t rotation_set_reversed(uint8_t port, bool value);
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/**
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* Reverse the Rotation Sensor's direction
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Rotation Sensor
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*
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* \param port
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* The V5 Rotation Sensor port number from 1-21
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*
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*
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* \b Example
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* \code
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* #define ROTATION_PORT 1
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*
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* void opcontrol() {
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* Rotation rotation_sensor(ROTATION_PORT);
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* while (true) {
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*
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* if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
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* rotation_reverse(ROTATION_PORT);
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* }
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* delay(20);
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* }
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* }
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* \endcode
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*/
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int32_t rotation_reverse(uint8_t port);
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/**
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* Initialize the Rotation Sensor with a reverse flag
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Rotation Sensor
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*
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* \param port
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* The V5 Rotation Sensor port number from 1-21
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* \param reverse_flag
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* Determines if the Rotation Sensor is reversed or not.
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*
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*
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* \b Example
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* \code
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* #define ROTATION_PORT 1
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*
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* void opcontrol() {
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* Rotation rotation_sensor(ROTATION_PORT);
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* bool reverse_flag = true;
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* while (true) {
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*
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* if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
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* rotation_init_reverse(ROTATION_PORT, reverse_flag);
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* }
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* delay(20);
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* }
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* }
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* \endcode
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*/
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int32_t rotation_init_reverse(uint8_t port, bool reverse_flag);
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/**
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* Get the Rotation Sensor's reversed flag
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Rotation Sensor
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*
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* \param port
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* The V5 Rotation Sensor port number from 1-21
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*
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* \return Boolean value of if the Rotation Sensor's direction is reversed or not
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* or PROS_ERR if the operation failed, setting errno.
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*
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* \b Example
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* \code
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* #define ROTATION_PORT 1
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*
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* void opcontrol() {
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* Rotation rotation_sensor(ROTATION_PORT);
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* while (true) {
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*
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* if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
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* rotation_get_reversed(ROTATION_PORT);
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* }
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* delay(20);
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* }
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* }
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* \endcode
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*/
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int32_t rotation_get_reversed(uint8_t port);
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///@}
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#ifdef __cplusplus
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} //namespace C
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} //namespace pros
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} //extern "C"
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#endif
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#endif
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