Added reverse motor using negative port param.

Changed Motor constructors' port param from uint8_t to int8_t
purduesigbots · Oct 12, 2022 · 5bfc575 · 5bfc575
1 parent 95709d7
commit 5bfc575
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Showing 2 changed files with 23 additions and 11 deletions.
diff --git a/include/pros/motors.hpp b/include/pros/motors.hpp
@@ -46,16 +46,16 @@ class Motor {
 	 * \param encoder_units
 	 *        The motor's encoder units
 	 */
-	explicit Motor(const std::uint8_t port, const motor_gearset_e_t gearset, const bool reverse,
+	explicit Motor(const std::int8_t port, const motor_gearset_e_t gearset, const bool reverse,
 	               const motor_encoder_units_e_t encoder_units);
 
-	explicit Motor(const std::uint8_t port, const motor_gearset_e_t gearset, const bool reverse);
+	explicit Motor(const std::int8_t port, const motor_gearset_e_t gearset, const bool reverse);
 
-	explicit Motor(const std::uint8_t port, const motor_gearset_e_t gearset);
+	explicit Motor(const std::int8_t port, const motor_gearset_e_t gearset);
 
-	explicit Motor(const std::uint8_t port, const bool reverse);
+	explicit Motor(const std::int8_t port, const bool reverse);
 
-	explicit Motor(const std::uint8_t port);
+	explicit Motor(const std::int8_t port);
 
 	/****************************************************************************/
 	/**                         Motor movement functions                       **/

diff --git a/src/devices/vdml_motors.cpp b/src/devices/vdml_motors.cpp
@@ -10,6 +10,7 @@
  * file, You can obtain one at http://mozilla.org/MPL/2.0/.
  */
 
+#include <stdint.h>
 #include <vector>
 
 #include "kapi.h"
@@ -77,28 +78,39 @@
 namespace pros {
 using namespace pros::c;
 
-Motor::Motor(const std::uint8_t port, const motor_gearset_e_t gearset, const bool reverse,
+Motor::Motor(const std::int8_t port, const motor_gearset_e_t gearset, const bool reverse,
              const motor_encoder_units_e_t encoder_units)
-    : _port(port) {
+    : _port(abs(port)) {
 	set_gearing(gearset);
 	set_reversed(reverse);
 	set_encoder_units(encoder_units);
+	if (port < 0) 
+		set_reversed(true);
 }
 
-Motor::Motor(const std::uint8_t port, const motor_gearset_e_t gearset, const bool reverse) : _port(port) {
+Motor::Motor(const std::int8_t port, const motor_gearset_e_t gearset, const bool reverse) : _port(abs(port)) {
 	set_gearing(gearset);
 	set_reversed(reverse);
+	if (port < 0) 
+		set_reversed(true);
 }
 
-Motor::Motor(const std::uint8_t port, const motor_gearset_e_t gearset) : _port(port) {
+Motor::Motor(const std::int8_t port, const motor_gearset_e_t gearset) : _port(abs(port)) {
 	set_gearing(gearset);
+	if (port < 0) 
+		set_reversed(true);
 }
 
-Motor::Motor(const std::uint8_t port, const bool reverse) : _port(port) {
+Motor::Motor(const std::int8_t port, const bool reverse) : _port(abs(port)) {
 	set_reversed(reverse);
+	if (port < 0) 
+		set_reversed(true);
 }
 
-Motor::Motor(const std::uint8_t port) : _port(port) {}
+Motor::Motor(const std::int8_t port) : _port(abs(port)) {
+	if (port < 0) 
+		set_reversed(true);
+}
 
 std::int32_t Motor::operator=(std::int32_t voltage) const {
 	return motor_move(_port, voltage);