Added reset position functions to the rotation-sensor

include/pros/rotation.h

@@ -47,7 +47,7 @@ namespace c {
 int32_t rotation_reset(uint8_t port);
 
 /**
- * Set the Rotation sensor to a desired rotation value.
+ * Set the Rotation sensor position reading to a desired rotation value.
  *
  * This function uses the following values of errno when an error state is
  * reached:
@@ -63,6 +63,22 @@ int32_t rotation_reset(uint8_t port);
  */
 int32_t rotation_set_position(uint8_t port, uint32_t position);
 
+/**
+ * Resets the Rotation sensor position to 0.
+ *
+ * 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 Rotation Sensor
+ *
+ * \param port
+ *		  The V5 Rotation Sensor port number from 1-21
+
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed, setting errno.
+ */
+int32_t rotation_reset_position(uint8_t port);
+
 /**
  * Get the Rotation sensor's current rotational position.  Specifically, in
  * terms of hundreths of degrees.

include/pros/rotation.hpp

@@ -44,7 +44,7 @@ class Rotation {
 	virtual std::int32_t reset();
 
 	/**
-	 * Set the Rotation sensor to a desired rotation value.
+ 	 * Set the Rotation sensor position reading to a desired rotation value.
 	 *
 	 * This function uses the following values of errno when an error state is
 	 * reached:
@@ -58,6 +58,21 @@ class Rotation {
 	 */
 	virtual std::int32_t set_position(std::uint32_t position);
 
+	/**
+	 * Reset the Rotation sensor to a desired rotation value.
+	 *
+	 * 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 Rotation Sensor
+	 *
+	 * \param position
+	 * 		  The position in terms of ticks
+	 * \return 1 if the operation was successful or PROS_ERR if the operation
+	 * failed, setting errno.
+	 */
+	virtual std::int32_t reset_position(void);
+
 	/**
 	 * Resets rotation sensor by multiplying the rotation reading by 
 	 * -1 only if the direction was recently reversed.

src/devices/vdml_rotation.c

@@ -23,6 +23,12 @@ int32_t rotation_reset(uint8_t port) {
 	return_port(port - 1, 1);
 }
 
+int32_t rotation_reset_position(uint8_t port) {
+	claim_port_i(port - 1, E_DEVICE_ROTATION);
+	vexDeviceAbsEncPositionSet(device->device_info, 0);
+	return_port(port - 1, 1);
+}
+
 int32_t rotation_set_position(uint8_t port, uint32_t position) {
 	claim_port_i(port - 1, E_DEVICE_ROTATION);
 	vexDeviceAbsEncPositionSet(device->device_info, position);

src/devices/vdml_rotation.cpp

@@ -21,8 +21,12 @@ std::int32_t Rotation::set_position(std::uint32_t position) {
 	return pros::c::rotation_set_position(_port, position);
 }
 
+std::int32_t Rotation::reset_position(void) {
+	return pros::c::rotation_set_position(_port, 0);
+}
+
 std::int32_t Rotation::get_position(void) {
-    return pros::c::rotation_get_position(_port);
+    return pros::c::rotation_get_angle_cpp(_port);
 }
 
 std::int32_t Rotation::get_velocity(void) {