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♻️ Rewrite ADI Pneumatics class #574

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May 10, 2023
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♻️ Rewrite ADI Pneumatics class #574

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a335b25
:recycle: Rewrite ADI Pneumatics class
Jerrylum May 3, 2023
9e62291
Rewrite pneumatics implementation and docs
Richard-Stump May 9, 2023
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308 changes: 192 additions & 116 deletions include/pros/adi.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1724,163 +1724,239 @@ class Pneumatics : public DigitalOut {
* @{
*/
public:

/**
* Creates a Pneumatics object for the given port.
*
*
* This function uses the following values of errno when an error state is
* reached:
* ENXIO - The given value is not within the range of ADI Ports
*
*
* \param adi_port
* The ADI port number (from 1-8, 'a'-'h', 'A'-'H') to configure
* \param start_extended
* If true, the pneumatic will start the match extended
* \param active_low
* If set to true, a value of false corresponds to the pneumatic's
* wire being set to high.
*
* \b Example
* If true, the pneumatic will start extended when the program starts.
* By default, the piston starts retracted when the program starts.
* \param extended_is_low
* A flag to set whether the the pneumatic is extended when the ADI
* it receives a high or a low value. When true, the extended state
* corresponds to a output low on the ADI port. This allows the user
* to reverse the behavior of the pneumatics if needed.
*
* /b Example:
* \code
* #define ADI_PNEUMATICS_PORT 'a'
*
* void opcontrol() {
* pros::adi::Pneumatics pneumatics (ADI_PNEUMATICS_PORT);
* pros::adi::Pneumatics left_piston('a', false); // Starts retracted, extends when the ADI port is high
* pros::adi::Pneumatics right_piston('b', false, true); // Starts retracted, extends when the ADI port is low
*
* pros::Controller master(pros::E_CONTROLLER_MASTER);
*
* while (true) {
* // Set the pneumatic solenoid to true
* pneumatics.set_value(true);
* if(master.get_digital(pros::E_CONTROLLER_DIGITAL_L1)) {
* left_piston.extend();
* }
* if(master.get_digital(pros::E_CONTROLLER_DIGITAL_L2)) {
* left_piston.retract();
* }
*
* if(master.get_digital(pros::E_CONTROLLER_DIGITAL_R1)) {
* left_piston.extend();
* }
* if(master.get_digital(pros::E_CONTROLLER_DIGITAL_2)) {
* left_piston.retract();
* }
*
* pros::delay(10);
* }
* }
*
* \endcode
*/
explicit Pneumatics(std::uint8_t adi_port, bool start_extended, bool active_low = false);
explicit Pneumatics(std::uint8_t adi_port,
bool start_extended,
bool extended_is_low = false
);

/**
* Creates a Pneumatics object for the given port.
*
* Creates a Pneumatics object for the given port pair.
*
* This function uses the following values of errno when an error state is
* reached:
* ENXIO - The given value is not within the range of ADI Ports
*
*
* \param port_pair
* The pair of the smart port number (from 1-22) and the
* ADI port number (from 1-8, 'a'-'h', 'A'-'H') to configure
* \param start_extended
* If true, the pneumatic will start the match extended
* \param active_low
* If set to true, a value of false corresponds to the pneumatic's
* wire being set to high.
*
* \b Example
* If true, the pneumatic will start extended when the program starts.
* By default, the piston starts retracted when the program starts.
* \param extended_is_low
* A flag to set whether the the pneumatic is extended when the ADI
* it receives a high or a low value. When true, the extended state
* corresponds to a output low on the ADI port. This allows the user
* to reverse the behavior of the pneumatics if needed.
*
* /b Example:
* \code
* #define ADI_PNEUMATICS_PORT 'a'
* #define SMART_PORT 1
*
* void opcontrol() {
* pros::adi::Pneumatics pneumatics ({{ SMART_PORT , ADI_PNEUMATICS_PORT }});
* pros::adi::Pneumatics left_piston({1, 'a'}, false); // Starts retracted, extends when the ADI port is high
* pros::adi::Pneumatics right_piston({1, 'b'}, false, true); // Starts retracted, extends when the ADI port is low
*
* pros::Controller master(pros::E_CONTROLLER_MASTER);
*
* while (true) {
* // Set the pneumatic solenoid to true
* pneumatics.set_value(true);
* if(master.get_digital(pros::E_CONTROLLER_DIGITAL_L1)) {
* left_piston.extend();
* }
* if(master.get_digital(pros::E_CONTROLLER_DIGITAL_L2)) {
* left_piston.retract();
* }
*
* if(master.get_digital(pros::E_CONTROLLER_DIGITAL_R1)) {
* left_piston.extend();
* }
* if(master.get_digital(pros::E_CONTROLLER_DIGITAL_R2)) {
* left_piston.retract();
* }
*
* pros::delay(10);
* }
* }
* \endcode
*/
explicit Pneumatics(ext_adi_port_pair_t port_pair, bool start_extended, bool active_low = false);
explicit Pneumatics(ext_adi_port_pair_t port_pair,
bool start_extended,
bool extended_is_low = false
);

/*
* Extends the piston, if not already extended.
*
* \return 1 if the operation was successful or PROS_ERR if the operation
* failed, setting errno.
*
* \b Example
* \code
* #define ADI_PNEUMATICS_PORT 'a'
*
* void opcontrol() {
* pros::adi::Pneumatics pneumatics (ADI_PNEUMATICS_PORT);
* while (true) {
* // Extend the piston
* pneumatics.extend();
* pros::delay(10);
* }
* }
* \endcode
*/
/**
* Extends the piston, if not already extended.
*
* \return 1 if the piston newly extended, 0 if the piston was already
* extended, or PROS_ERR is the operation failed, setting errno.
*
* \b Example:
* \code
* void opcontrol() {
* pros::adi::Pneumatics piston({1, 'a'}, false); // Starts retracted, extends when the ADI port is high
*
* pros::Controller master(pros::E_CONTROLLER_MASTER);
*
* while (true) {
* if(master.get_digital(pros::E_CONTROLLER_DIGITAL_X)) {
* left_piston.extend();
* }
* if(master.get_digital(pros::E_CONTROLLER_DIGITAL_B)) {
* left_piston.retract();
* }
* if(mastetr.get_digital(pros::E_CONTROLLER_DIGITAL_A)) {
* left_piston.toggle();
* }
*
* pros::delay(10);
* }
* }
* \endcode
*/
std::int32_t extend();

/*
* Retracts the piston, if not already retracted.
*
* \return 1 if the operation was successful or PROS_ERR if the operation
* failed, setting errno.
*
* \b Example
* \code
* #define ADI_PNEUMATICS_PORT 'a'
*
* void opcontrol() {
* pros::adi::Pneumatics pneumatics (ADI_PNEUMATICS_PORT);
* while (true) {
* // Retract the piston
* pneumatics.retract();
* pros::delay(10);
* }
* }
* \endcode
*/
/**
* Retracts the piston, if not already retracted.
*
* \return 1 if the piston newly retracted, 0 if the piston was already
* retracted, or PROS_ERR is the operation failed, setting errno.
*
* \b Example:
* \code
* void opcontrol() {
* pros::adi::Pneumatics piston({1, 'a'}, false); // Starts retracted, extends when the ADI port is high
*
* pros::Controller master(pros::E_CONTROLLER_MASTER);
*
* while (true) {
* if(master.get_digital(pros::E_CONTROLLER_DIGITAL_X)) {
* left_piston.extend();
* }
* if(master.get_digital(pros::E_CONTROLLER_DIGITAL_B)) {
* left_piston.retract();
* }
* if(mastetr.get_digital(pros::E_CONTROLLER_DIGITAL_A)) {
* left_piston.toggle();
* }
*
* pros::delay(10);
* }
* }
* \endcode
*/
std::int32_t retract();

/*
* Puts the piston into the opposite state of its current state.
* If it is retracted, it will extend. If it is extended, it will retract.
*
* \return 1 if the operation was successful or PROS_ERR if the operation
* failed, setting errno.
*
* \b Example
* \code
* #define ADI_PNEUMATICS_PORT 'a'
*
* void opcontrol() {
* pros::adi::Pneumatics pneumatics (ADI_PNEUMATICS_PORT);
* while (true) {
* // Toggle the piston
* pneumatics.toggle();
* pros::delay(10);
* }
* }
* \endcode
*/
/**
* Puts the piston into the opposite state of its current state.
* If it is retracted, it will extend. If it is extended, it will retract.
*
* \return 1 if the operation was successful or PROS_ERR if the operation
* failed, setting errno.
*
* \return 1 if the piston successfully toggled, or PROS_ERR if the
* operation failed, setting errno.
*
*\b Example:
* \code
* void opcontrol() {
* pros::adi::Pneumatics piston({1, 'a'}, false); // Starts retracted, extends when the ADI port is high
*
* pros::Controller master(pros::E_CONTROLLER_MASTER);
*
* while (true) {
* if(master.get_digital(pros::E_CONTROLLER_DIGITAL_X)) {
* left_piston.extend();
* }
* if(master.get_digital(pros::E_CONTROLLER_DIGITAL_B)) {
* left_piston.retract();
* }
* if(mastetr.get_digital(pros::E_CONTROLLER_DIGITAL_A)) {
* left_piston.toggle();
* }
*
* pros::delay(10);
* }
* }
* \endcode
*/
std::int32_t toggle();

/*
* Returns the current state of the piston.
*
* \return true if the piston is extended, false if it is retracted.
*
* \b Example
* \code
* #define ADI_PNEUMATICS_PORT 'a'
*
* void opcontrol() {
* pros::adi::Pneumatics pneumatics (ADI_PNEUMATICS_PORT);
* while (true) {
* // Check if the piston is extended
* if (pneumatics.get_state()) {
* // Do something
* }
* pros::delay(10);
* }
* }
* \endcode
*/
bool get_state() const;
/**
* Returns whether the piston is extended or not.
*
* \return true if the piston is extended, false if it is retracted.
*
* \b Example
* \code
* #define ADI_PNEUMATICS_PORT 'a'
*
* void opcontrol() {
* pros::adi::Pneumatics pneumatics (ADI_PNEUMATICS_PORT);
* while (true) {
* // Check if the piston is extended
* if (pneumatics.is_extended()) {
* printf("The pneumatic is extended\n");
* }
* else {
* printf("The pneumatic is not extended\n");
* }
*
* pros::delay(10);
* }
* }
* \endcode
*/
bool is_extended() const;

private:
bool active_low;
bool state;
bool extended_is_low; // A flag that sets whether extended corresponds to
// a low signal

bool state; // Holds the physical state of the ADI port
};
///@}

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