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include/okapi/impl/device/rotarysensor/adiGyro.hpp

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+/*
+ * 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/.
+ */
+#pragma once
+
+#include "api.h"
+#include "okapi/api/control/controllerInput.hpp"
+#include "okapi/api/device/rotarysensor/continuousRotarySensor.hpp"
+
+namespace okapi {
+class ADIGyro : public ContinuousRotarySensor {
+  public:
+  /**
+   * A gyroscope on the given ADI port. If the port has not previously been configured as a gyro,
+   * then the constructor will block for 1 second for calibration. The gyro measures in tenths of a
+   * degree, so there are ``3600`` measurement points per revolution.
+   *
+   * ```cpp
+   * auto gyro = ADIGyro('A');
+   * ```
+   *
+   * @param iport The ADI port number (``[1, 8]``, ``[a, h]``, ``[A, H]``).
+   * @param imultiplier A value multiplied by the gyro heading value.
+   */
+  ADIGyro(std::uint8_t iport, double imultiplier = 1);
+
+  /**
+   * A gyroscope on the given ADI port. If the port has not previously been configured as a gyro,
+   * then the constructor will block for 1 second for calibration. The gyro measures in tenths of a
+   * degree, so there are 3600 measurement points per revolution.
+   *
+   * ```cpp
+   * auto gyro = ADIGyro({1, 'A'}, 1);
+   * ```
+   *
+   * Note to developers: Keep the default value on imultiplier so that users get an error if they do
+   * ADIGyro({1, 'A'}). Without it, this calls the non-ext-adi constructor.
+   *
+   * @param iports The ports the gyro is plugged in to in the order ``{smart port, gyro port}``. The
+   * smart port is the smart port number (``[1, 21]``). The gyro port is the ADI port number (``[1,
+   * 8]``, ``[a, h]``, ``[A, H]``).
+   * @param imultiplier A value multiplied by the gyro heading value.
+   */
+  ADIGyro(std::pair<std::uint8_t, std::uint8_t> iports, double imultiplier = 1);
+
+  /**
+   * Get the current sensor value.
+   *
+   * @return the current sensor value, or ``PROS_ERR`` on a failure.
+   */
+  double get() const override;
+
+  /**
+   * Get the current sensor value remapped into the target range (``[-1800, 1800]`` by default).
+   *
+   * @param iupperBound the upper bound of the range.
+   * @param ilowerBound the lower bound of the range.
+   * @return the remapped sensor value.
+   */
+  double getRemapped(double iupperBound = 1800, double ilowerBound = -1800) const;
+
+  /**
+   * Reset the sensor to zero.
+   *
+   * @return `1` on success, `PROS_ERR` on fail
+   */
+  std::int32_t reset() override;
+
+  /**
+   * Get the sensor value for use in a control loop. This method might be automatically called in
+   * another thread by the controller.
+   *
+   * @return the current sensor value, or ``PROS_ERR`` on a failure.
+   */
+  double controllerGet() override;
+
+  protected:
+  pros::c::ext_adi_gyro_t gyro;
+};
+} // namespace okapi