Merge pull request #262 from purduesigbots/release/3.3.1

🔖 Release 3.3.1

include/api.h

@@ -41,28 +41,34 @@
 
 #define PROS_VERSION_MAJOR 3
 #define PROS_VERSION_MINOR 3
-#define PROS_VERSION_PATCH 0
-#define PROS_VERSION_STRING "3.3.0"
+#define PROS_VERSION_PATCH 1
+#define PROS_VERSION_STRING "3.3.1"
 
 #define PROS_ERR (INT32_MAX)
 #define PROS_ERR_F (INFINITY)
 
 #include "pros/adi.h"
 #include "pros/colors.h"
+#include "pros/distance.h"
 #include "pros/ext_adi.h"
 #include "pros/imu.h"
 #include "pros/llemu.h"
 #include "pros/misc.h"
 #include "pros/motors.h"
+#include "pros/optical.h"
 #include "pros/rtos.h"
+#include "pros/rotation.h"
 #include "pros/vision.h"
 
 #ifdef __cplusplus
 #include "pros/adi.hpp"
+#include "pros/distance.hpp"
 #include "pros/imu.hpp"
 #include "pros/llemu.hpp"
 #include "pros/misc.hpp"
 #include "pros/motors.hpp"
+#include "pros/optical.hpp"
+#include "pros/rotation.hpp"
 #include "pros/rtos.hpp"
 #include "pros/vision.hpp"
 #endif

include/pros/adi.h

@@ -494,7 +494,7 @@ int32_t adi_encoder_get(adi_encoder_t enc);
  *
  * \param port_top
  *        The "top" wire from the encoder sensor with the removable cover side
- *        up
+ *        up. This should be in port 1, 3, 5, or 7 ('A', 'C', 'E', or 'G').
  * \param port_bottom
  *        The "bottom" wire from the encoder sensor
  * \param reverse

include/pros/apix.h

@@ -369,10 +369,13 @@ void queue_reset(queue_t queue);
 typedef enum v5_device_e {
 	E_DEVICE_NONE = 0,
 	E_DEVICE_MOTOR = 2,
+	E_DEVICE_ROTATION = 4,
 	E_DEVICE_IMU = 6,
+	E_DEVICE_DISTANCE = 7,
 	E_DEVICE_RADIO = 8,
 	E_DEVICE_VISION = 11,
 	E_DEVICE_ADI = 12,
+	E_DEVICE_OPTICAL = 16,
 	E_DEVICE_GENERIC = 129,
 	E_DEVICE_UNDEFINED = 255
 } v5_device_e_t;

include/pros/distance.h

@@ -0,0 +1,101 @@
+/**
+ * \file pros/distance.h
+ *
+ * Contains prototypes for functions related to the VEX Distance sensor.
+ *
+ * Visit https://pros.cs.purdue.edu/v5/tutorials/topical/distance.html to learn
+ * more.
+ *
+ * This file should not be modified by users, since it gets replaced whenever
+ * a kernel upgrade occurs.
+ *
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+
+#ifndef _PROS_DISTANCE_H_
+#define _PROS_DISTANCE_H_
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+namespace pros {
+namespace c {
+#endif
+
+/**
+ * Get the currently measured distance from the sensor in mm
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Distance Sensor
+ *
+ * \param  port The V5 Distance Sensor port number from 1-21
+ * \return The distance value or PROS_ERR if the operation failed, setting
+ * errno.
+ */
+int32_t distance_get(uint8_t port);
+
+/**
+ * Get the confidence in the distance reading
+ *
+ * This is a value that has a range of 0 to 63. 63 means high confidence,
+ * lower values imply less confidence. Confidence is only available
+ * when distance is > 200mm (the value 10 is returned in this scenario).
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Distance Sensor
+ *
+ * \param  port The V5 Distance Sensor port number from 1-21
+ * \return The confidence value or PROS_ERR if the operation failed, setting
+ * errno.
+ */
+int32_t distance_get_confidence(uint8_t port);
+
+/**
+ * Get the current guess at relative object size
+ *
+ * This is a value that has a range of 0 to 400.
+ * A 18" x 30" grey card will return a value of approximately 75
+ * in typical room lighting.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Distance Sensor
+ *
+ * \param  port The V5 Distance Sensor port number from 1-21
+ * \return The size value or PROS_ERR if the operation failed, setting
+ * errno.
+ */
+int32_t distance_get_object_size(uint8_t port);
+
+/**
+ * Get the object velocity in m/s
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Distance Sensor
+ *
+ * \param  port The V5 Distance Sensor port number from 1-21
+ * \return The velocity value or PROS_ERR if the operation failed, setting
+ * errno.
+ */
+double distance_get_object_velocity(uint8_t port);
+
+#ifdef __cplusplus
+}
+}
+}
+#endif
+
+#endif

include/pros/distance.hpp

@@ -0,0 +1,114 @@
+/**
+ * \file pros/distance.hpp
+ *
+ * Contains prototypes for the V5 Distance Sensor-related functions.
+ *
+ * Visit https://pros.cs.purdue.edu/v5/tutorials/topical/distance.html to learn
+ * more.
+ *
+ * This file should not be modified by users, since it gets replaced whenever
+ * a kernel upgrade occurs.
+ *
+ * \copyright (c) 2017-2018, Purdue University ACM SIGBots.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+
+#ifndef _PROS_DISTANCE_HPP_
+#define _PROS_DISTANCE_HPP_
+
+#include <cstdint>
+
+#include "pros/distance.h"
+
+namespace pros {
+class Distance {
+	public:
+	/**
+	 * Creates a Distance Sensor object for the given port.
+	 *
+	 * 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 Distance Sensor
+	 *
+	 * \param port
+	 *        The V5 port number from 1-21
+	 */
+	explicit Distance(const std::uint8_t port);
+
+	/**
+	 * Get the currently measured distance from the sensor in mm
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Distance Sensor
+	 *
+	 * \return The distance value or PROS_ERR if the operation failed, setting
+	 * errno.
+	 */
+	virtual std::int32_t get();
+
+	/**
+	 * Get the confidence in the distance reading
+	 *
+	 * This is a value that has a range of 0 to 63. 63 means high confidence,
+	 * lower values imply less confidence. Confidence is only available
+	 * when distance is > 200mm.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Distance Sensor
+	 *
+	 * \return The confidence value or PROS_ERR if the operation failed, setting
+	 * errno.
+	 */
+	virtual std::int32_t get_confidence();
+
+	/**
+	 * Get the current guess at relative object size
+	 *
+	 * This is a value that has a range of 0 to 400.
+	 * A 18" x 30" grey card will return a value of approximately 75
+	 * in typical room lighting.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Distance Sensor
+	 *
+	 * \return The size value or PROS_ERR if the operation failed, setting
+	 * errno.
+	 */
+	virtual std::int32_t get_object_size();
+
+	/**
+	 * Get the object velocity in m/s
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Distance Sensor
+	 *
+	 * \return The velocity value or PROS_ERR if the operation failed, setting
+	 * errno.
+	 */
+	virtual double get_object_velocity();
+
+	/**
+	 * Gets the port number of the distance sensor.
+	 *
+	 * \return The distance sensor's port number.
+	 */
+	std::uint8_t get_port();
+
+	private:
+	const std::uint8_t _port;
+};
+}  // namespace pros
+
+#endif

include/pros/ext_adi.h

@@ -421,7 +421,7 @@ int32_t ext_adi_encoder_get(ext_adi_encoder_t enc);
  *        The smart port number that the ADI Expander is in
  * \param adi_port_top
  *        The "top" wire from the encoder sensor with the removable cover side
- *        up
+ *        up. This should be in port 1, 3, 5, or 7 ('A', 'C', 'E', or 'G').
  * \param adi_port_bottom
  *        The "bottom" wire from the encoder sensor
  * \param reverse