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include/pros/rotation.h

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+/**
+ * \file pros/rotation.h
+ *
+ * Contains prototypes for functions related to the VEX Rotation sensor.
+ *
+ * Visit https://pros.cs.purdue.edu/v5/tutorials/topical/rotation.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_ROTATION_H_
+#define _PROS_ROTATION_H_
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+namespace pros {
+namespace c {
+#endif
+
+
+// NOTE: Descriptions of what each of these methods do may be inaccurate,
+// as it's just a speculative guess as to what they actually do.
+
+// TODO: Make revisions when proper documentation is given.
+
+/**
+ * Resets Rotational Sensor 
+ *
+ * Resets rotation presumably 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
+ * EAGAIN - The sensor is already calibrating
+ *
+ * \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(uint8_t port);
+
+
+/**
+ * Set 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
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param port
+ *		  The V5 Rotation Sensor port number from 1-21
+ * \param position 
+ * 		  The position in terms of ticks
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed, setting errno.
+ */
+int32_t rotation_set_position(uint8_t port, uint32_t position);
+
+/**
+ * Get the Rotation sensor's current rotational position.
+ *
+ * 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
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Rotation Sensor port number from 1-21
+ * \return The degree value or PROS_ERR_F if the operation failed, setting
+ * errno.
+ */
+int32_t rotation_get_position(uint8_t port);
+
+/**
+ * Get the Rotation sensor's current rotational velocity.
+ *
+ * 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
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Rotation Sensor port number from 1-21
+ * \return The degree value or PROS_ERR_F if the operation failed, setting
+ * errno.
+ */
+int32_t rotation_get_velocity(uint8_t port);
+
+/**
+ * Get the Rotation sensor's current rotational position in terms of an angle.
+ *
+ * TODO: Add description for what units this uses.
+ * 
+ * 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
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Rotation Sensor port number from 1-21
+ * \return The degree value or PROS_ERR_F if the operation failed, setting
+ * errno.
+ */
+int32_t rotation_get_angle(uint8_t port);
+
+/**
+ * Sets if the rotational sensor's positive/negative direction is reversed or not.
+ * 
+ * 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
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Rotation Sensor port number from 1-21
+ * \param  value
+ * 				 Determines if the direction of the rotational sensor is reversed or not.
+ * 
+ * \return The degree value or PROS_ERR_F if the operation failed, setting
+ * errno.
+ */
+int32_t rotation_set_reversed(uint8_t port, bool value);
+
+/**
+ * Gets if the rotational sensor's positive/negative direction is reversed or not.
+ * 
+ * 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
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Rotation Sensor port number from 1-21
+ * 
+ * \return The degree value or PROS_ERR_F if the operation failed, setting
+ * errno.
+ */
+int32_t rotation_get_reversed(uint8_t port);
+
+uint32_t rotational_get_status(uint8_t port);
+
+#ifdef __cplusplus
+}
+}
+}
+#endif
+
+#endif