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✨ Add Reverseable Motors to Default API #443

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merged 2 commits into from
Oct 14, 2022
Merged

✨ Add Reverseable Motors to Default API #443

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5bfc575
Added reverse motor using negative port param.
R11G Oct 12, 2022
084fde2
Refractored Motor_Group constructor with new functionality
R11G Oct 12, 2022
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10 changes: 5 additions & 5 deletions include/pros/motors.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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 **/
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27 changes: 19 additions & 8 deletions src/devices/vdml_motors.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
* file, You can obtain one at http://mozilla.org/MPL/2.0/.
*/

#include <stdint.h>
#include <vector>

#include "kapi.h"
Expand Down Expand Up @@ -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);
Expand Down Expand Up @@ -327,8 +339,7 @@ Motor_Group::Motor_Group(const std::initializer_list<Motor> motors)
Motor_Group::Motor_Group(const std::vector<std::int8_t> motor_ports)
: _motor_group_mutex(pros::Mutex()), _motor_count(motor_ports.size()) {
for (std::uint8_t i = 0; i < _motor_count; ++i) {
_motors.push_back(Motor(std::abs(motor_ports[i]), (motor_ports[i] < 0)));
// std::cout << "Motor " << motor_ports[i] << "Reversed: " << (bool)(motor_ports[i] < 0) << std::endl;
_motors.push_back(Motor(motor_ports[i]));
}
}

Expand Down