✨ Add Zeroing and Position Setting Functions for the IMU

include/pros/imu.h

@@ -276,6 +276,184 @@ imu_status_e_t imu_get_status(uint8_t port);
 // void imu_set_mode(uint8_t port, uint32_t mode);
 // uint32_t imu_get_mode(uint8_t port);
 
+//Value reset functions:
+/**
+ * Resets the current reading of the Inertial Sensor's heading to zero
+ *
+ * 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 Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed, setting errno.
+ */
+int32_t imu_tare_heading(uint8_t port);
+
+/**
+ * Resets the current reading of the Inertial Sensor's rotation to zero
+ *
+ * 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 Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed, setting errno.
+ */
+int32_t imu_tare_rotation(uint8_t port);
+
+/**
+ * Resets the current reading of the Inertial Sensor's pitch to zero
+ *
+ * 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 Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed, setting errno.
+ */
+int32_t imu_tare_pitch(uint8_t port);
+
+/**
+ * Resets the current reading of the Inertial Sensor's roll to zero
+ *
+ * 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 Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed, setting errno.
+ */
+int32_t imu_tare_roll(uint8_t port);
+
+/**
+ * Resets the current reading of the Inertial Sensor's yaw to zero
+ *
+ * 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 Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed, setting errno.
+ */
+int32_t imu_tare_yaw(uint8_t port);
+
+/**
+ * Resets all 5 values of the Inertial Sensor 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 Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed, setting errno.
+ */
+int32_t imu_tare(uint8_t port);
+
+//Value set functions:
+/**
+ * Sets the current reading of the Inertial Sensor's rotation to target 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 Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed, setting errno.
+ */
+int32_t imu_set_rotation(uint8_t port, double target);
+
+/**
+ * Sets the current reading of the Inertial Sensor's set to target 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 Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed, setting errno.
+ */
+int32_t imu_set_heading(uint8_t port, double target);
+
+/**
+ * Sets the current reading of the Inertial Sensor's pitch to target 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 Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed, setting errno.
+ */
+int32_t imu_set_pitch(uint8_t port, double target);
+
+/**
+ * Sets the current reading of the Inertial Sensor's roll to target 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 Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed, setting errno.
+ */
+int32_t imu_set_roll(uint8_t port, double target);
+
+/**
+ * Sets the current reading of the Inertial Sensor's yaw to target 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 Inertial Sensor
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 Inertial Sensor port number from 1-21
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed, setting errno.
+ */
+int32_t imu_set_yaw(uint8_t port, double target);
+
 #ifdef __cplusplus
 }
 }

include/pros/imu.hpp

@@ -196,7 +196,172 @@ class Imu {
 	 */
 	virtual pros::c::imu_gyro_s_t get_gyro_rate() const;
 	/**
-	 * Get the Inertial Sensor's raw acceleroneter values
+	 * Resets the current reading of the Inertial Sensor's rotation to zero
+	 *
+	 * 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 Inertial Sensor
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 * \param  port
+	 * 				 The V5 Inertial Sensor port number from 1-21
+	 * \return 1 if the operation was successful or PROS_ERR if the operation
+	 * failed, setting errno.
+	 */
+	virtual std::int32_t tare_rotation() const;
+	/**
+	 * Resets the current reading of the Inertial Sensor's heading to zero
+	 *
+	 * 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 Inertial Sensor
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 * \param  port
+	 * 				 The V5 Inertial Sensor port number from 1-21
+	 * \return 1 if the operation was successful or PROS_ERR if the operation
+	 * failed, setting errno.
+	 */
+	virtual std::int32_t tare_heading() const;
+	/**
+	 * Resets the current reading of the Inertial Sensor's pitch to zero
+	 *
+	 * 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 Inertial Sensor
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 * \param  port
+	 * 				 The V5 Inertial Sensor port number from 1-21
+	 * \return 1 if the operation was successful or PROS_ERR if the operation
+	 * failed, setting errno.
+	 */
+	virtual std::int32_t tare_pitch() const;
+	/**
+	 * Resets the current reading of the Inertial Sensor's pitch to zero
+	 *
+	 * 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 Inertial Sensor
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 * \param  port
+	 * 				 The V5 Inertial Sensor port number from 1-21
+	 * \return 1 if the operation was successful or PROS_ERR if the operation
+	 * failed, setting errno.
+	 */
+	virtual std::int32_t tare_yaw() const;
+	/**
+	 * Resets the current reading of the Inertial Sensor's roll to zero
+	 *
+	 * 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 Inertial Sensor
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 * \param  port
+	 * 				 The V5 Inertial Sensor port number from 1-21
+	 * \return 1 if the operation was successful or PROS_ERR if the operation
+	 * failed, setting errno.
+	 */
+	virtual std::int32_t tare_roll() const;
+	/**
+	 * Resets all 5 values of the Inertial Sensor 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 Inertial Sensor
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 * \param  port
+	 * 				 The V5 Inertial Sensor port number from 1-21
+	 * \return 1 if the operation was successful or PROS_ERR if the operation
+	 * failed, setting errno.
+	 */
+	virtual std::int32_t tare() const;
+	/**
+	 * Sets the current reading of the Inertial Sensor's heading to target 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 Inertial Sensor
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 * \param  port
+	 * 				 The V5 Inertial Sensor port number from 1-21
+	 * \return 1 if the operation was successful or PROS_ERR if the operation
+	 * failed, setting errno.
+	 */
+	virtual std::int32_t set_heading(double target) const;
+	/**
+	 * Sets the current reading of the Inertial Sensor's rotation to target 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 Inertial Sensor
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 * \param  port
+	 * 				 The V5 Inertial Sensor port number from 1-21
+	 * \return 1 if the operation was successful or PROS_ERR if the operation
+	 * failed, setting errno.
+	 */
+	virtual std::int32_t set_rotation(double target) const;
+	/**
+	 * Sets the current reading of the Inertial Sensor's yaw to target 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 Inertial Sensor
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 * \param  port
+	 * 				 The V5 Inertial Sensor port number from 1-21
+	 * \return 1 if the operation was successful or PROS_ERR if the operation
+	 * failed, setting errno.
+	 */
+	virtual std::int32_t set_yaw(double target) const;
+	/**
+	 * Sets the current reading of the Inertial Sensor's pitch to target 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 Inertial Sensor
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 * \param  port
+	 * 				 The V5 Inertial Sensor port number from 1-21
+	 * \return 1 if the operation was successful or PROS_ERR if the operation
+	 * failed, setting errno.
+	 */
+	virtual std::int32_t set_pitch(double target) const;
+	/**
+	 * Sets the current reading of the Inertial Sensor's roll to target 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 Inertial Sensor
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 * \param  port
+	 * 				 The V5 Inertial Sensor port number from 1-21
+	 * \return 1 if the operation was successful or PROS_ERR if the operation
+	 * failed, setting errno.
+	 */
+	virtual std::int32_t set_roll(double target) const;
+	/**
+	 * Get the Inertial Sensor's raw accelerometer values
 	 *
 	 * This function uses the following values of errno when an error state is
 	 * reached:

src/devices/vdml_distance.c

@@ -1,5 +1,5 @@
 /**
- * \file devices/vdml_imu.c
+ * \file devices/vdml_distance.c
  *
  * Contains functions for interacting with the VEX Inertial sensor.
  *