885 lines
22 KiB
C++
885 lines
22 KiB
C++
/**
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* \file pros/gps.h
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* \ingroup c-gps
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*
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* Contains prototypes for functions related to the VEX GPS.
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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-gps VEX GPS Sensor C API
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* \note For a pros-specific usage guide on the GPS, please check out our article [here.](@ref gps)
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*/
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#ifndef _PROS_GPS_H_
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#define _PROS_GPS_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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#endif
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/**
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* \ingroup c-gps
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*/
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/**
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* \addtogroup c-gps
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* @{
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*/
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/**
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* \struct gps_position_s_t
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*/
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typedef struct __attribute__((__packed__)) gps_position_s {
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/// X Position (meters)
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double x;
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/// Y Position (meters)
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double y;
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} gps_position_s_t;
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/**
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* \struct gps_status_s_t
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*/
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typedef struct __attribute__((__packed__)) gps_status_s {
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/// X Position (meters)
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double x;
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/// Y Position (meters)
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double y;
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/// Perceived Pitch based on GPS + IMU
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double pitch;
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/// Perceived Roll based on GPS + IMU
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double roll;
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/// Perceived Yaw based on GPS + IMU
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double yaw;
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} gps_status_s_t;
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/**
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* \struct gps_orientation_s_t
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*/
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typedef struct __attribute__((__packed__)) gps_orientation_s {
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/// Perceived Pitch based on GPS + IMU
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double pitch;
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/// Perceived Roll based on GPS + IMU
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double roll;
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/// Perceived Yaw based on GPS + IMU
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double yaw;
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} gps_orientation_s_t;
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/**
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* \struct gps_raw_s
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*/
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struct gps_raw_s {
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/// Perceived Pitch based on GPS + IMU
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double x;
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/// Perceived Roll based on GPS + IMU
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double y;
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/// Perceived Yaw based on GPS + IMU
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double z;
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};
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/**
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* \struct gps_accel_s_t
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*
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*/
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typedef struct gps_raw_s gps_accel_s_t;
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/**
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* \struct gps_gyro_s_t
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*
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*/
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typedef struct gps_raw_s gps_gyro_s_t;
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#ifdef __cplusplus
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namespace c {
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#endif
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/**
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* Set the GPS's offset relative to the center of turning in meters,
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* as well as its initial position.
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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 a GPS
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 GPS port number from 1-21
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* \param xOffset
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* Cartesian 4-Quadrant X offset from center of turning (meters)
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* \param yOffset
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* Cartesian 4-Quadrant Y offset from center of turning (meters)
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* \param xInitial
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* Initial 4-Quadrant X Position, with (0,0) being at the center of the field (meters)
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* \param yInitial
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* Initial 4-Quadrant Y Position, with (0,0) being at the center of the field (meters)
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* \param headingInitial
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* Heading with 0 being north on the field, in degrees [0,360) going clockwise
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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 GPS_PORT 1
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* #define X_OFFSET .225
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* #define Y_OFFSET .223
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* #define X_INITIAL 1.54
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* #define Y_INITIAL 1.14
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* #define HEADING_INITIAL 90
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*
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* void initialize() {
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* gps_initialize_full(GPS_PORT, X_OFFSET, Y_OFFSET, X_INITIAL, Y_INITIAL, HEADING_INITIAL);
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* }
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* \endcode
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*/
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int32_t gps_initialize_full(uint8_t port, double xInitial, double yInitial, double headingInitial, double xOffset,
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double yOffset);
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/**
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* Set the GPS's offset relative to the center of turning in meters.
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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 a GPS
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 GPS port number from 1-21
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* \param xOffset
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* Cartesian 4-Quadrant X offset from center of turning (meters)
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* \param yOffset
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* Cartesian 4-Quadrant Y offset from center of turning (meters)
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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 GPS_PORT 1
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* #define X_OFFSET -.225
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* #define Y_OFFSET .225
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*
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* void initialize() {
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* gps_set_offset(GPS_PORT, X_OFFSET, Y_OFFSET);
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* }
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* \endcode
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*/
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int32_t gps_set_offset(uint8_t port, double xOffset, double yOffset);
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/**
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* Get the GPS's cartesian location relative to the center of turning/origin in meters.
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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 a GPS
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 GPS port number from 1-21
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* \return A struct (gps_position_s_t) containing the X and Y values 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 GPS_PORT 1
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*
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* void opcontrol() {
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* gps_position_s_t pos;
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*
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* while (true) {
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* pos = gps_get_offset(GPS_PORT);
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* screen_print(TEXT_MEDIUM, 1, "X Offset: %4d, Y Offset: %4d", pos.x, pos.y);
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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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gps_position_s_t gps_get_offset(uint8_t port);
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/**
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* Sets the robot's location relative to the center of the field in meters.
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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 a GPS
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 GPS port number from 1-21
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* \param xInitial
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* Initial 4-Quadrant X Position, with (0,0) being at the center of the field (meters)
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* \param yInitial
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* Initial 4-Quadrant Y Position, with (0,0) being at the center of the field (meters)
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* \param headingInitial
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* Heading with 0 being north on the field, in degrees [0,360) going clockwise
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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 GPS_PORT 1
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* #define X_INITIAL -1.15
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* #define Y_INITIAL 1.45
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* #define HEADING_INITIAL 90
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*
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* void initialize() {
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* gps_set_position(GPS_PORT, X_INITIAL, Y_INITIAL, HEADING_INITIAL);
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* }
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* \endcode
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*/
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int32_t gps_set_position(uint8_t port, double xInitial, double yInitial, double headingInitial);
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/**
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* Set the GPS sensor's data rate in milliseconds, only applies to IMU on GPS.
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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 a GPS
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 GPS port number from 1-21
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* \param rate
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* Data rate in milliseconds (Minimum: 5 ms)
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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 GPS_PORT 1
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* #define GPS_DATA_RATE 5
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*
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* void initialize() {
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* gps_set_data_rate(GPS_PORT, GPS_DATA_RATE);
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* while (true) {
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* // Do something
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* }
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* }
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* \endcode
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*/
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int32_t gps_set_data_rate(uint8_t port, uint32_t rate);
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/**
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* Get the possible RMS (Root Mean Squared) error in meters for GPS position.
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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 a GPS
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 GPS port number from 1-21
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*
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* \return Possible RMS (Root Mean Squared) error in meters for GPS position.
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* If the operation failed, returns PROS_ERR_F and errno is set.
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*
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* \b Example
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* \code
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* #define GPS_PORT 1
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*
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* void opcontrol() {
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* double error;
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* error = gps_get_error(GPS_PORT);
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* screen_print(TEXT_MEDIUM, 1, "Error: %4d", error);
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* }
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* \endcode
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*/
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double gps_get_error(uint8_t port);
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/**
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* Gets the position and roll, yaw, and pitch of the GPS.
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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 a GPS
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 GPS port number from 1-21
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*
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* \return A struct (gps_status_s_t) containing values mentioned above.
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* If the operation failed, all the structure's members are filled with
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* PROS_ERR_F and errno is set.
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*
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* \b Example
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* \code
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* #define GPS_PORT 1
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*
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* void opcontrol() {
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* gps_status_s_t status;
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*
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* while (true) {
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* status = gps_get_position_and_orientation(GPS_PORT);
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* printf("X: %f, Y: %f, Pitch: %f, Roll: %f, Yaw: %f\n", status.x, status.y, status.pitch, status.roll, status.yaw);
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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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gps_status_s_t gps_get_position_and_orientation(uint8_t port);
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/**
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* Gets the x and y position on the field of the GPS in meters.
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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 a GPS
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 GPS port number from 1-21
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*
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* \return A struct (gps_position_s_t) containing values mentioned above.
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* If the operation failed, all the structure's members are filled with
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* PROS_ERR_F and errno is set.
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*
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* \b Example
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* \code
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* #define GPS_PORT 1
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*
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* void opcontrol() {
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* gps_position_s_t position;
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*
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* while (true) {
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* position = gps_get_position(GPS_PORT);
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* printf("X: %f, Y: %f\n", position.x, position.y);
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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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gps_position_s_t gps_get_position(uint8_t port);
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/**
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* Gets the X position in meters of the robot relative to the starting position.
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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 a GPS
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 GPS port number from 1-21
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*
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* \return The X position in meters. If the operation failed,
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* returns PROS_ERR_F and errno is set.
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*
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* \b Example
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* \code
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* #define GPS_PORT 1
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*
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* void opcontrol() {
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* double pos_x;
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*
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* while (true) {
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* pos_x = gps_get_position_x(GPS_PORT);
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* printf("X: %f\n", pos_x);
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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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double gps_get_position_x(uint8_t port);
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/**
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* Gets the Y position in meters of the robot relative to the starting position.
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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 a GPS
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 GPS port number from 1-21
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*
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* \return The Y position in meters. If the operation failed,
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* returns PROS_ERR_F and errno is set.
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*
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* \b Example
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* \code
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* #define GPS_PORT 1
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*
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* void opcontrol() {
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* double pos_y;
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*
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* while (true) {
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* pos_y = gps_get_position_y(GPS_PORT);
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* printf("Y: %f\n", pos_y);
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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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double gps_get_position_y(uint8_t port);
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/**
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* Gets the pitch, roll, and yaw of the GPS relative to the starting orientation.
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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 a GPS
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 GPS port number from 1-21
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*
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* \return A struct (gps_orientation_s_t) containing values mentioned above.
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* If the operation failed, all the structure's members are filled with
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* PROS_ERR_F and errno is set.
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*
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* \b Example
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* \code
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* #define GPS_PORT 1
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*
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* void opcontrol() {
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* gps_orientation_s_t orientation;
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*
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* while (true) {
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* orientation = gps_get_orientation(GPS_PORT);
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* printf("pitch: %f, roll: %f, yaw: %f\n", orientation.pitch, orientation.roll, orientation.yaw);
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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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gps_orientation_s_t gps_get_orientation(uint8_t port);
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/**
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* Gets the pitch of the robot in degrees relative to the starting oreintation.
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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 a GPS
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 GPS port number from 1-21
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*
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* \return The pitch in [0,360) degree values. If the operation failed,
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* returns PROS_ERR_F and errno is set.
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*
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* \b Example
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* \code
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* #define GPS_PORT 1
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*
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* void opcontrol() {
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* double pitch;
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*
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* while (true) {
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* pitch = gps_get_pitch(GPS_PORT);
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* printf("pitch: %f\n", pitch);
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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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double gps_get_pitch(uint8_t port);
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/**
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* Gets the roll of the robot in degrees relative to the starting oreintation.
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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 a GPS
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 GPS port number from 1-21
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*
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* \return The roll in [0,360) degree values. If the operation failed,
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* returns PROS_ERR_F and errno is set.
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*
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* \b Example
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* \code
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* #define GPS_PORT 1
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*
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* void opcontrol() {
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* double roll;
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*
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* while (true) {
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* roll = gps_get_roll(GPS_PORT);
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* printf("roll: %f\n", roll);
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* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
double gps_get_roll(uint8_t port);
|
|
|
|
/**
|
|
* Gets the yaw of the robot in degrees relative to the starting oreintation.
|
|
*
|
|
* 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 a GPS
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 GPS port number from 1-21
|
|
*
|
|
* \return The yaw in [0,360) degree values. If the operation failed,
|
|
* returns PROS_ERR_F and errno is set.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define GPS_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* double yaw;
|
|
*
|
|
* while (true) {
|
|
* yaw = gps_get_yaw(GPS_PORT);
|
|
* printf("yaw: %f\n", yaw);
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
double gps_get_yaw(uint8_t port);
|
|
|
|
/**
|
|
* Get the heading in [0,360) degree values.
|
|
*
|
|
* 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 a GPS
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 GPS port number from 1-21
|
|
*
|
|
* \return The heading in [0,360) degree values. If the operation failed,
|
|
* returns PROS_ERR_F and errno is set.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define GPS_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* double heading;
|
|
*
|
|
* while (true) {
|
|
* heading = gps_get_heading(GPS_PORT);
|
|
* printf("heading: %f\n", heading);
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
double gps_get_heading(uint8_t port);
|
|
|
|
/**
|
|
* Get the heading in the max double value and min double value scale.
|
|
*
|
|
* 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 a GPS
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 GPS port number from 1-21
|
|
*
|
|
* \return The heading in [DOUBLE_MIN, DOUBLE_MAX] values. If the operation
|
|
* fails, returns PROS_ERR_F and errno is set.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define GPS_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* double heading_raw;
|
|
*
|
|
* while (true) {
|
|
* heading_raw = gps_get_heading_raw(GPS_PORT);
|
|
* printf("heading_raw: %f\n", heading_raw);
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
double gps_get_heading_raw(uint8_t port);
|
|
|
|
/**
|
|
* Get the GPS's raw gyroscope values
|
|
*
|
|
* 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 a GPS
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 GPS port number from 1-21
|
|
* \return A struct (gps_gyro_s_t) containing values mentioned above.
|
|
* If the operation failed, all the
|
|
* structure's members are filled with PROS_ERR_F and errno is set.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define GPS_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* gps_gyro_s_t gyro;
|
|
*
|
|
* while (true) {
|
|
* gyro = gps_get_gyro(GPS_PORT);
|
|
* printf("Gyro: %f %f %f\n", gyro.x, gyro.y, gyro.z);
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
gps_gyro_s_t gps_get_gyro_rate(uint8_t port);
|
|
|
|
/**
|
|
* Get the GPS's raw gyroscope value in x-axis
|
|
*
|
|
* 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 a GPS
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 GPS port number from 1-21
|
|
* \return The raw gyroscope value in x-axis. If the operation fails, returns
|
|
* PROS_ERR_F and errno is set.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define GPS_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* double gyro_x;
|
|
*
|
|
* while (true) {
|
|
* gyro_x = gps_get_gyro_x(GPS_PORT);
|
|
* printf("gyro_x: %f\n", gyro_x);
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
double gps_get_gyro_rate_x(uint8_t port);
|
|
|
|
/**
|
|
* Get the GPS's raw gyroscope value in y-axis
|
|
*
|
|
* 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 a GPS
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 GPS port number from 1-21
|
|
* \return The raw gyroscope value in y-axis. If the operation fails, returns
|
|
* PROS_ERR_F and errno is set.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define GPS_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* double gyro_y;
|
|
*
|
|
* while (true) {
|
|
* gyro_y = gps_get_gyro_y(GPS_PORT);
|
|
* printf("gyro_y: %f\n", gyro_y);
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
double gps_get_gyro_rate_y(uint8_t port);
|
|
|
|
/**
|
|
* Get the GPS's raw gyroscope value in z-axis
|
|
*
|
|
* 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 a GPS
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 GPS port number from 1-21
|
|
* \return The raw gyroscope value in z-axis. If the operation fails, returns
|
|
* PROS_ERR_F and errno is set.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define GPS_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* double gyro_z;
|
|
*
|
|
* while (true) {
|
|
* gyro_z = gps_get_gyro_z(GPS_PORT);
|
|
* printf("gyro_z: %f\n", gyro_z);
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
double gps_get_gyro_rate_z(uint8_t port);
|
|
|
|
/**
|
|
* Get the GPS's raw accelerometer values
|
|
*
|
|
* 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 GPS
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 GPS's port number from 1-21
|
|
* \return A struct (gps_accel_s_t) containing values mentioned above.
|
|
* If the operation failed, all the
|
|
* structure's members are filled with PROS_ERR_F and errno is set.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define GPS_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* gps_accel_s_t accel;
|
|
*
|
|
* while (true) {
|
|
* accel = gps_get_accel(GPS_PORT);
|
|
* printf("X: %f, Y: %f, Z: %f\n", accel.x, accel.y, accel.z);
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
gps_accel_s_t gps_get_accel(uint8_t port);
|
|
|
|
/**
|
|
* Get the GPS's raw accelerometer value in x-axis
|
|
*
|
|
* 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 GPS
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 GPS's port number from 1-21
|
|
* \return The raw accelerometer value in x-axis. If the operation fails, returns
|
|
* PROS_ERR_F and errno is set.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define GPS_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* double accel_x;
|
|
*
|
|
* while (true) {
|
|
* accel_x = gps_get_accel_x(GPS_PORT);
|
|
* printf("accel_x: %f\n", accel_x);
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
double gps_get_accel_x(uint8_t port);
|
|
|
|
/**
|
|
* Get the GPS's raw accelerometer value in y-axis
|
|
*
|
|
* 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 GPS
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 GPS's port number from 1-21
|
|
* \return The raw accelerometer value in y-axis. If the operation fails, returns
|
|
* PROS_ERR_F and errno is set.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define GPS_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* double accel_y;
|
|
*
|
|
* while (true) {
|
|
* accel_y = gps_get_accel_y(GPS_PORT);
|
|
* printf("accel_y: %f\n", accel_y);
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
double gps_get_accel_y(uint8_t port);
|
|
|
|
/**
|
|
* Get the GPS's raw accelerometer value in z-axis
|
|
*
|
|
* 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 GPS
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 GPS's port number from 1-21
|
|
* \return The raw accelerometer value in z-axis. If the operation fails, returns
|
|
* PROS_ERR_F and errno is set.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
* #define GPS_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* double accel_z;
|
|
*
|
|
* while (true) {
|
|
* accel_z = gps_get_accel_z(GPS_PORT);
|
|
* printf("accel_z: %f\n", accel_z);
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
double gps_get_accel_z(uint8_t port);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#endif
|