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include/pros/misc.h

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+/**
+ * \file pros/misc.h
+ * \ingroup c-misc
+ *
+ * Contains prototypes for miscellaneous functions pertaining to the controller,
+ * battery, and competition control.
+ *
+ * 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.
+ * All rights reservered.
+ *
+ * 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-misc Miscellaneous C API
+ * \note Additional example code for this module can be found in its [Tutorial.](@ref controller)
+ */
+
+#ifndef _PROS_MISC_H_
+#define _PROS_MISC_H_
+
+#include <stdint.h>
+
+#define NUM_V5_PORTS (22)
+
+/**
+ * \ingroup c-misc
+ */
+
+/**
+ * \addtogroup c-misc
+ *  @{
+ */
+
+/// \name V5 Competition
+//@{
+
+/*#define COMPETITION_DISABLED (1 << 0)
+#define COMPETITION_AUTONOMOUS (1 << 1)
+#define COMPETITION_CONNECTED (1 << 2)
+#define COMPETITION_SYSTEM (1 << 3)*/
+typedef enum {
+	COMPETITION_DISABLED = 1 << 0,
+	COMPETITION_CONNECTED = 1 << 2,
+	COMPETITION_AUTONOMOUS = 1 << 1,
+	COMPETITION_SYSTEM = 1 << 3,
+} competition_status;
+
+#ifdef __cplusplus
+extern "C" {
+namespace pros {
+namespace c {
+#endif
+
+/**
+ * \fn competition_get_status(void)
+ * Get the current status of the competition control.
+ *
+ * \return The competition control status as a mask of bits with
+ * COMPETITION_{ENABLED,AUTONOMOUS,CONNECTED}.
+ *
+ * \b Example
+ * \code
+ * void initialize() {
+ *   if (competition_get_status() & COMPETITION_CONNECTED == true) {
+ *     // Field Control is Connected
+ *     // Run LCD Selector code or similar
+ *   }
+ * }
+ * \endcode
+ */
+uint8_t competition_get_status(void);
+
+/**
+ * \fn competition_is_disabled()
+ *
+ * \return True if the V5 Brain is disabled, false otherwise.
+ *
+ * \b Example
+ * \code
+ * void my_task_fn(void* ignore) {
+ *   while (!competition_is_disabled()) {
+ *   // Run competition tasks (like Lift Control or similar)
+ *   }
+ * }
+ *
+ * void initialize() {
+ *   task_t my_task = task_create(my_task_fn, NULL, TASK_PRIO_DEFAULT, TASK_STACK_DEPTH_DEFAULT, "My Task");
+ * }
+ * \endcode
+ */
+uint8_t competition_is_disabled(void);
+
+/**
+ * \return True if the V5 Brain is connected to competition control, false otherwise.
+ *
+ * \b Example
+ * \code
+ * void initialize() {
+ *   if (competition_is_connected()) {
+ *     // Field Control is Connected
+ *     // Run LCD Selector code or similar
+ *   }
+ * }
+ * \endcode
+ */
+uint8_t competition_is_connected(void);
+
+/**
+ * \return True if the V5 Brain is in autonomous mode, false otherwise.
+ *
+ * \b Example
+ * \code
+ * void my_task_fn(void* ignore) {
+ *   while (!competition_is_autonomous()) {
+ *     // Wait to do anything until autonomous starts
+ *     delay(2);
+ *   }
+ *   while (competition_is_autonomous()) {
+ *     // Run whatever code is desired to just execute in autonomous
+ *     }
+ * }
+ *
+ * void initialize() {
+ *   task_t my_task = task_create(my_task_fn, NULL, TASK_PRIO_DEFAULT, TASK_STACK_DEPTH_DEFAULT, "My Task");
+ * }
+ * \endcode
+ */
+uint8_t competition_is_autonomous(void);
+
+/**
+ * \return True if the V5 Brain is connected to VEXnet Field Controller, false otherwise.
+ *
+ * \b Example
+ * \code
+ * void initialize() {
+ *   if (competition_is_field()) {
+ *     // connected to VEXnet Field Controller
+ *   }
+ * }
+ * \endcode
+ */
+uint8_t competition_is_field(void);
+
+/**
+ * \return True if the V5 Brain is connected to VEXnet Competition Switch, false otherwise.
+ *
+ * \b Example
+ * \code
+ * void initialize() {
+ *   if (competition_is_switch()) {
+ *     // connected to VEXnet Competition Switch
+ *   }
+ * }
+ */
+uint8_t competition_is_switch(void);
+
+#ifdef __cplusplus
+}
+}
+}
+#endif
+///@}
+
+/// \name V5 Controller
+///@{
+#ifdef __cplusplus
+extern "C" {
+namespace pros {
+#endif
+
+/**
+ * \enum
+ */
+typedef enum {
+	/// The master controller.
+	E_CONTROLLER_MASTER = 0,
+	/// The partner controller.
+	E_CONTROLLER_PARTNER
+} controller_id_e_t;
+
+/**
+ * \enum
+ */
+typedef enum {
+	/// The horizontal axis of the controller’s left analog stick.
+	E_CONTROLLER_ANALOG_LEFT_X = 0,
+	/// The vertical axis of the controller’s left analog stick.
+	E_CONTROLLER_ANALOG_LEFT_Y,
+	/// The horizontal axis of the controller’s right analog stick.
+	E_CONTROLLER_ANALOG_RIGHT_X,
+	/// The vertical axis of the controller’s right analog stick.
+	E_CONTROLLER_ANALOG_RIGHT_Y
+} controller_analog_e_t;
+
+/**
+ * \enum
+ */
+typedef enum {
+	/// The first trigger on the left side of the controller.
+	E_CONTROLLER_DIGITAL_L1 = 6,
+	/// The second trigger on the left side of the controller.
+	E_CONTROLLER_DIGITAL_L2,
+	/// The first trigger on the right side of the controller.
+	E_CONTROLLER_DIGITAL_R1,
+	/// The second trigger on the right side of the controller.
+	E_CONTROLLER_DIGITAL_R2,
+	/// The up arrow on the left arrow pad of the controller.
+	E_CONTROLLER_DIGITAL_UP,
+	/// The down arrow on the left arrow pad of the controller.
+	E_CONTROLLER_DIGITAL_DOWN,
+	/// The left arrow on the left arrow pad of the controller.
+	E_CONTROLLER_DIGITAL_LEFT,
+	/// The right arrow on the left arrow pad of the controller.
+	E_CONTROLLER_DIGITAL_RIGHT,
+	/// The ‘X’ button on the right button pad of the controller.
+	E_CONTROLLER_DIGITAL_X,
+	/// The ‘B’ button on the right button pad of the controller.
+	E_CONTROLLER_DIGITAL_B,
+	/// The ‘Y’ button on the right button pad of the controller.
+	E_CONTROLLER_DIGITAL_Y,
+	/// The ‘A’ button on the right button pad of the controller.
+	E_CONTROLLER_DIGITAL_A
+} controller_digital_e_t;
+
+#ifdef PROS_USE_SIMPLE_NAMES
+#ifdef __cplusplus
+#define CONTROLLER_MASTER pros::E_CONTROLLER_MASTER
+#define CONTROLLER_PARTNER pros::E_CONTROLLER_PARTNER
+#define ANALOG_LEFT_X pros::E_CONTROLLER_ANALOG_LEFT_X
+#define ANALOG_LEFT_Y pros::E_CONTROLLER_ANALOG_LEFT_Y
+#define ANALOG_RIGHT_X pros::E_CONTROLLER_ANALOG_RIGHT_X
+#define ANALOG_RIGHT_Y pros::E_CONTROLLER_ANALOG_RIGHT_Y
+#define DIGITAL_L1 pros::E_CONTROLLER_DIGITAL_L1
+#define DIGITAL_L2 pros::E_CONTROLLER_DIGITAL_L2
+#define DIGITAL_R1 pros::E_CONTROLLER_DIGITAL_R1
+#define DIGITAL_R2 pros::E_CONTROLLER_DIGITAL_R2
+#define DIGITAL_UP pros::E_CONTROLLER_DIGITAL_UP
+#define DIGITAL_DOWN pros::E_CONTROLLER_DIGITAL_DOWN
+#define DIGITAL_LEFT pros::E_CONTROLLER_DIGITAL_LEFT
+#define DIGITAL_RIGHT pros::E_CONTROLLER_DIGITAL_RIGHT
+#define DIGITAL_X pros::E_CONTROLLER_DIGITAL_X
+#define DIGITAL_B pros::E_CONTROLLER_DIGITAL_B
+#define DIGITAL_Y pros::E_CONTROLLER_DIGITAL_Y
+#define DIGITAL_A pros::E_CONTROLLER_DIGITAL_A
+#else
+#define CONTROLLER_MASTER E_CONTROLLER_MASTER
+#define CONTROLLER_PARTNER E_CONTROLLER_PARTNER
+#define ANALOG_LEFT_X E_CONTROLLER_ANALOG_LEFT_X
+#define ANALOG_LEFT_Y E_CONTROLLER_ANALOG_LEFT_Y
+#define ANALOG_RIGHT_X E_CONTROLLER_ANALOG_RIGHT_X
+#define ANALOG_RIGHT_Y E_CONTROLLER_ANALOG_RIGHT_Y
+#define DIGITAL_L1 E_CONTROLLER_DIGITAL_L1
+#define DIGITAL_L2 E_CONTROLLER_DIGITAL_L2
+#define DIGITAL_R1 E_CONTROLLER_DIGITAL_R1
+#define DIGITAL_R2 E_CONTROLLER_DIGITAL_R2
+#define DIGITAL_UP E_CONTROLLER_DIGITAL_UP
+#define DIGITAL_DOWN E_CONTROLLER_DIGITAL_DOWN
+#define DIGITAL_LEFT E_CONTROLLER_DIGITAL_LEFT
+#define DIGITAL_RIGHT E_CONTROLLER_DIGITAL_RIGHT
+#define DIGITAL_X E_CONTROLLER_DIGITAL_X
+#define DIGITAL_B E_CONTROLLER_DIGITAL_B
+#define DIGITAL_Y E_CONTROLLER_DIGITAL_Y
+#define DIGITAL_A E_CONTROLLER_DIGITAL_A
+#endif
+#endif
+
+/**
+ * \def Given an id and a port, this macro sets the port variable based on the id and allows the mutex to take that
+ * port.
+ *
+ * \returns error (in the function/scope it's in) if the controller failed to connect or an invalid id is given.
+ */
+#define CONTROLLER_PORT_MUTEX_TAKE(id, port) \
+	switch (id) {                              \
+		case E_CONTROLLER_MASTER:                \
+			port = V5_PORT_CONTROLLER_1;           \
+			break;                                 \
+		case E_CONTROLLER_PARTNER:               \
+			port = V5_PORT_CONTROLLER_2;           \
+			break;                                 \
+		default:                                 \
+			errno = EINVAL;                        \
+			return PROS_ERR;                       \
+	}                                          \
+	if (!internal_port_mutex_take(port)) {     \
+		errno = EACCES;                          \
+		return PROS_ERR;                         \
+	}
+
+#ifdef __cplusplus
+namespace c {
+#endif
+
+/**
+ * Checks if the controller is connected.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * EINVAL - A value other than E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER is
+ * given.
+ * EACCES - Another resource is currently trying to access the controller port.
+ *
+ * \param id
+ *        The ID of the controller (e.g. the master or partner controller).
+ *        Must be one of CONTROLLER_MASTER or CONTROLLER_PARTNER
+ *
+ * \return 1 if the controller is connected, 0 otherwise
+ *
+ * \b Example
+ * \code
+ * void initialize() {
+ *   if (competition_is_connected()) {
+ *     // Field Control is Connected
+ *     // Run LCD Selector code or similar
+ *   }
+ * }
+ * \endcode
+ */
+int32_t controller_is_connected(controller_id_e_t id);
+
+/**
+ * Gets the value of an analog channel (joystick) on a controller.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * EINVAL - A value other than E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER is
+ * given.
+ * EACCES - Another resource is currently trying to access the controller port.
+ *
+ * \param id
+ *        The ID of the controller (e.g. the master or partner controller).
+ *        Must be one of CONTROLLER_MASTER or CONTROLLER_PARTNER
+ * \param channel
+ *        The analog channel to get.
+ *        Must be one of ANALOG_LEFT_X, ANALOG_LEFT_Y, ANALOG_RIGHT_X,
+ *        ANALOG_RIGHT_Y
+ *
+ * \return The current reading of the analog channel: [-127, 127].
+ * If the controller was not connected, then 0 is returned
+ *
+ * \b Example
+ * \code
+ * void opcontrol() {
+ *   while (true) {
+ *     motor_move(1, controller_get_analog(E_CONTROLLER_MASTER, E_CONTROLLER_ANALOG_LEFT_Y));
+ *     delay(2);
+ *   }
+ * }
+ * \endcode
+ */
+int32_t controller_get_analog(controller_id_e_t id, controller_analog_e_t channel);
+
+/**
+ * Gets the battery capacity of the given controller.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * EINVAL - A value other than E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER is
+ * given.
+ * EACCES - Another resource is currently trying to access the controller port.
+ *
+ * \param id
+ *        The ID of the controller (e.g. the master or partner controller).
+ *        Must be one of E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER
+ *
+ * \return The controller's battery capacity
+ *
+ * \b Example
+ * \code
+ * void initialize() {
+ *   printf("Battery Capacity: %d\n", controller_get_battery_capacity(E_CONTROLLER_MASTER));
+ * }
+ * \endcode
+ */
+int32_t controller_get_battery_capacity(controller_id_e_t id);
+
+/**
+ * Gets the battery level of the given controller.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * EINVAL - A value other than E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER is
+ * given.
+ * EACCES - Another resource is currently trying to access the controller port.
+ *
+ * \param id
+ *        The ID of the controller (e.g. the master or partner controller).
+ *        Must be one of E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER
+ *
+ * \return The controller's battery level
+ *
+ * \b Example
+ * \code
+ * void initialize() {
+ *   printf("Battery Level: %d\n", controller_get_battery_level(E_CONTROLLER_MASTER));
+ * }
+ * \endcode
+ */
+int32_t controller_get_battery_level(controller_id_e_t id);
+
+/**
+ * Checks if a digital channel (button) on the controller is currently pressed.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * EINVAL - A value other than E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER is
+ * given.
+ * EACCES - Another resource is currently trying to access the controller port.
+ *
+ * \param id
+ *        The ID of the controller (e.g. the master or partner controller).
+ *        Must be one of CONTROLLER_MASTER or CONTROLLER_PARTNER
+ * \param button
+ *        The button to read.
+ *        Must be one of DIGITAL_{RIGHT,DOWN,LEFT,UP,A,B,Y,X,R1,R2,L1,L2}
+ *
+ * \return 1 if the button on the controller is pressed.
+ * If the controller was not connected, then 0 is returned
+ *
+ * \b Example
+ * \code
+ * void opcontrol() {
+ *   while (true) {
+ *   if (controller_get_digital(E_CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_A)) {
+ *     motor_set(1, 100);
+ *   }
+ *   else {
+ *     motor_set(1, 0);
+ *   }
+ *     delay(2);
+ *   }
+ * }
+
+ * \endcode
+ */
+int32_t controller_get_digital(controller_id_e_t id, controller_digital_e_t button);
+
+/**
+ * Returns a rising-edge case for a controller button press.
+ *
+ * This function is not thread-safe.
+ * Multiple tasks polling a single button may return different results under the
+ * same circumstances, so only one task should call this function for any given
+ * button. E.g., Task A calls this function for buttons 1 and 2. Task B may call
+ * this function for button 3, but should not for buttons 1 or 2. A typical
+ * use-case for this function is to call inside opcontrol to detect new button
+ * presses, and not in any other tasks.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * EINVAL - A value other than E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER is
+ * given.
+ * EACCES - Another resource is currently trying to access the controller port.
+ *
+ * \param id
+ *        The ID of the controller (e.g. the master or partner controller).
+ *        Must be one of CONTROLLER_MASTER or CONTROLLER_PARTNER
+ * \param button
+ * 			  The button to read. Must be one of
+ *        DIGITAL_{RIGHT,DOWN,LEFT,UP,A,B,Y,X,R1,R2,L1,L2}
+ *
+ * \return 1 if the button on the controller is pressed and had not been pressed
+ * the last time this function was called, 0 otherwise.
+ *
+ * \b Example
+ * \code
+ * void opcontrol() {
+ * while (true) {
+ *   if (controller_get_digital_new_press(E_CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_A)) {
+ *     // Toggle pneumatics or other similar actions
+ *   }
+ *
+ *   delay(2);
+ *   }
+ * }
+ * \endcode
+ */
+int32_t controller_get_digital_new_press(controller_id_e_t id, controller_digital_e_t button);
+
+/**
+ * Sets text to the controller LCD screen.
+ *
+ * \note Controller text setting is a slow process, so updates faster than 10ms
+ * when on a wired connection or 50ms over Vexnet will not be applied to the controller.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * EINVAL - A value other than E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER is
+ * given.
+ * EACCES - Another resource is currently trying to access the controller port.
+ * EAGAIN - Could not send the text to the controller.
+ *
+ * \param id
+ *        The ID of the controller (e.g. the master or partner controller).
+ *        Must be one of CONTROLLER_MASTER or CONTROLLER_PARTNER
+ * \param line
+ *        The line number at which the text will be displayed [0-2]
+ * \param col
+ *        The column number at which the text will be displayed [0-14]
+ * \param fmt
+ *        The format string to print to the controller
+ * \param ...
+ *        The argument list for the format string
+ *
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed, setting errno.
+ *
+ * \b Example
+ * \code
+ * void opcontrol() {
+ *   int count = 0;
+ *   while (true) {
+ *   if (!(count % 25)) {
+ *     // Only print every 50ms, the controller text update rate is slow
+ *     controller_print(E_CONTROLLER_MASTER, 0, 0, "Counter: %d", count);
+ *   }
+ *     count++;
+ *     delay(2);
+ *   }
+ * }
+ * \endcode
+ */
+int32_t controller_print(controller_id_e_t id, uint8_t line, uint8_t col, const char* fmt, ...);
+
+/**
+ * Sets text to the controller LCD screen.
+ *
+ * \note Controller text setting is a slow process, so updates faster than 10ms
+ * when on a wired connection or 50ms over Vexnet will not be applied to the controller.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * EINVAL - A value other than E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER is
+ * given.
+ * EACCES - Another resource is currently trying to access the controller port.
+ * EAGAIN - Could not send the text to the controller.
+ *
+ * \param id
+ *        The ID of the controller (e.g. the master or partner controller).
+ *        Must be one of CONTROLLER_MASTER or CONTROLLER_PARTNER
+ * \param line
+ *        The line number at which the text will be displayed [0-2]
+ * \param col
+ *        The column number at which the text will be displayed [0-14]
+ * \param str
+ *        The pre-formatted string to print to the controller
+ *
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed, setting errno.
+ *
+ * \b Example
+ * \code
+ * void opcontrol() {
+ *   int count = 0;
+ *   while (true) {
+ *     if (!(count % 25)) {
+ *       // Only print every 50ms, the controller text update rate is slow
+ *       controller_set_text(E_CONTROLLER_MASTER, 0, 0, "Example text");
+ *     }
+ *   count++;
+ *   delay(2);
+ *   }
+ * }
+ * \endcode
+ */
+int32_t controller_set_text(controller_id_e_t id, uint8_t line, uint8_t col, const char* str);
+
+/**
+ * Clears an individual line of the controller screen.
+ *
+ * \note Controller text setting is currently in beta, so continuous, fast
+ * updates will not work well.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * EINVAL - A value other than E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER is
+ * given.
+ * EACCES - Another resource is currently trying to access the controller port.
+ *
+ * \param id
+ *        The ID of the controller (e.g. the master or partner controller).
+ *        Must be one of CONTROLLER_MASTER or CONTROLLER_PARTNER
+ * \param line
+ *        The line number to clear [0-2]
+ *
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed, setting errno.
+ *
+ * \b Example
+ * \code
+ * void opcontrol() {
+ *   controller_set_text(E_CONTROLLER_MASTER, 0, 0, "Example");
+ *   delay(100);
+ *   controller_clear_line(E_CONTROLLER_MASTER, 0);
+ * }
+ * \endcode
+ */
+int32_t controller_clear_line(controller_id_e_t id, uint8_t line);
+
+/**
+ * Clears all of the lines on the controller screen.
+ *
+ * \note Controller text setting is a slow process, so updates faster than 10ms
+ * when on a wired connection or 50ms over Vexnet will not be applied to the controller.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * EINVAL - A value other than E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER is
+ * given.
+ * EACCES - Another resource is currently trying to access the controller port.
+ * EAGAIN - Could not send the text to the controller.
+ *
+ * \param id
+ *        The ID of the controller (e.g. the master or partner controller).
+ *        Must be one of CONTROLLER_MASTER or CONTROLLER_PARTNER
+ *
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed, setting errno.
+ *
+ * \b Example
+ * \code
+ * void opcontrol() {
+ *   controller_set_text(E_CONTROLLER_MASTER, 0, 0, "Example");
+ *   delay(100);
+ *   controller_clear(E_CONTROLLER_MASTER);
+ * }
+ * \endcode
+ */
+int32_t controller_clear(controller_id_e_t id);
+
+/**
+ * Rumble the controller.
+ *
+ * \note Controller rumble activation is a slow process, so updates faster than 10ms
+ * when on a wired connection or 50ms over Vexnet will not be applied to the controller.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * EINVAL - A value other than E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER is
+ * given.
+ * EACCES - Another resource is currently trying to access the controller port.
+ *
+ * \param id
+ *				The ID of the controller (e.g. the master or partner controller).
+ *				Must be one of CONTROLLER_MASTER or CONTROLLER_PARTNER
+ * \param rumble_pattern
+ *				A string consisting of the characters '.', '-', and ' ', where dots
+ *				are short rumbles, dashes are long rumbles, and spaces are pauses.
+ *				Maximum supported length is 8 characters.
+ *
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed, setting errno.
+ *
+ * \b Example
+ * \code
+ * void opcontrol() {
+ *   int count = 0;
+ *   while (true) {
+ *   if (!(count % 25)) {
+ *     // Only send every 50ms, the controller update rate is slow
+ *     controller_rumble(E_CONTROLLER_MASTER, ". - . -");
+ *   }
+ *   count++;
+ *   delay(2);
+ *   }
+ * }
+ * \endcode
+ */
+int32_t controller_rumble(controller_id_e_t id, const char* rumble_pattern);
+
+/**
+ * Gets the current voltage of the battery, as reported by VEXos.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * EACCES - Another resource is currently trying to access the battery port.
+ *
+ * \return The current voltage of the battery
+ *
+ * \b Example
+ * \code
+ * void initialize() {
+ *   printf("Battery's Voltage: %d\n", battery_get_voltage());
+ * }
+ * \endcode
+ */
+int32_t battery_get_voltage(void);
+
+/**
+ * Gets the current current of the battery, as reported by VEXos.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * EACCES - Another resource is currently trying to access the battery port.
+ *
+ * \return The current current of the battery
+ *
+ * \b Example
+ * \code
+ * void initialize() {
+ *   printf("Battery Current: %d\n", battery_get_current());
+ * }
+ * \endcode
+ */
+int32_t battery_get_current(void);
+
+/**
+ * Gets the current temperature of the battery, as reported by VEXos.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * EACCES - Another resource is currently trying to access the battery port.
+ *
+ * \return The current temperature of the battery
+ *
+ * \b Example
+ * \code
+ * void initialize() {
+ *   printf("Battery's Temperature: %d\n", battery_get_temperature());
+ * }
+ * \endcode
+ */
+double battery_get_temperature(void);
+
+/**
+ * Gets the current capacity of the battery, as reported by VEXos.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * EACCES - Another resource is currently trying to access the battery port.
+ *
+ * \return The current capacity of the battery
+ *
+ * \b Example
+ * \code
+ * void initialize() {
+ *   printf("Battery Level: %d\n", battery_get_capacity());
+ * }
+ * \endcode
+ */
+double battery_get_capacity(void);
+
+/**
+ * Checks if the SD card is installed.
+ *
+ * \return 1 if the SD card is installed, 0 otherwise
+ *
+ * \b Example
+ * \code
+ * void opcontrol() {
+ *   printf("%i", usd_is_installed());
+ * }
+ * \endcode
+ */
+int32_t usd_is_installed(void);
+
+/**
+ * Lists the files in a directory specified by the path
+ * Puts the list of file names (NOT DIRECTORIES) into the buffer seperated by newlines
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ *
+ * EIO - Hard error occured in the low level disk I/O layer
+ * EINVAL - file or directory is invalid, or length is invalid
+ * EBUSY - THe physical drinve cannot work
+ * ENOENT - cannot find the path or file
+ * EINVAL - the path name format is invalid
+ * EACCES - Access denied or directory full
+ * EEXIST - Access denied
+ * EROFS - SD card is write protected
+ * ENXIO - drive number is invalid or not a FAT32 drive
+ * ENOBUFS - drive has no work area
+ * ENFILE - too many open files
+ *
+ *
+ *
+ * \note use a path of "\" to list the files in the main directory NOT "/usd/"
+ *  DO NOT PREPEND YOUR PATHS WITH "/usd/"
+ *
+ * \return 1 on success or PROS_ERR on failure setting errno
+ *
+ * \b Example
+ * \code
+ * void opcontrol() {
+ * 	char* test = (char*) malloc(128);
+ *	pros::c::usd_list_files("/", test, 128);
+ *	pros::delay(200);
+ *	printf("%s\n", test); //Prints the file names in the root directory seperated by newlines
+ *  pros::delay(100);
+ *  pros::c::usd_list_files("/test", test, 128);
+ *	pros::delay(200);
+ *	printf("%s\n", test); //Prints the names of files in the folder named test seperated by newlines
+ *  pros::delay(100);
+ * }
+ * \endcode
+ */
+int32_t usd_list_files(const char* path, char* buffer, int32_t len);
+
+/******************************************************************************/
+/**                              Date and Time                               **/
+/******************************************************************************/
+
+extern const char* baked_date;
+extern const char* baked_time;
+
+typedef struct {
+	uint16_t year;  // Year - 1980
+	uint8_t day;
+	uint8_t month;  // 1 = January
+} date_s_t;
+
+typedef struct {
+	uint8_t hour;
+	uint8_t min;
+	uint8_t sec;
+	uint8_t sec_hund;  // hundredths of a second
+} time_s_t;
+
+///@}
+
+///@}
+
+#ifdef __cplusplus
+}
+}  // namespace pros
+}
+#endif
+
+#endif  // _PROS_MISC_H_