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Motor bug fixes and add new set_gearing #611

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Oct 24, 2023
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Motor bug fixes and add new set_gearing #611

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102 changes: 85 additions & 17 deletions include/pros/motor_group.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,26 +54,25 @@ class MotorGroup : public virtual AbstractMotor {
* A reversed motor will reverse the input or output movement functions and movement related
* telemetry in order to produce consistant behavior with non-reversed motors
*
* \param gearset = pros::v5::MotorGears::green
* \param gearset = pros::v5::MotorGears::invalid
* Optional parameter for the gearset for the motor.
* set to pros::v5::MotorGears::green if not specifed.
* Does not explicitly set the motor gearset if it is invalid or not specified
*
* \param encoder_units = pros::v5::MotorUnits::degrees
* \param encoder_units = pros::v5::MotorUnits::invalid
* Optional parameter for the encoder units of the motor
* set to pros::v5::MotorUnits::degrees if not specified by the user
* Does not explicitly set the motor units if it is invalid or not specified
*
* \b Example
* \code
* void opcontrol() {
* MotorGroup first_mg({1, -2}); //Creates a motor on port 1 and a reversed motor on port 2 with
* with both motors using the green gearset and degrees as the encoder units
* MotorGroup first_mg({1, -2}); //Creates a motor on port 1 and a reversed motor on port 2
* MotorGroup rotations_mg({4, 5}, pros::v5::MotorGears::blue, pros::v5::MotorUnits::rotations);
* //Creates a motor group on ports 4 and 5 with blue motors using rotaions as the encoder units
* }
* \endcode
*/
explicit MotorGroup(const std::initializer_list<std::int8_t>, const pros::v5::MotorGears gearset = pros::v5::MotorGears::green,
const pros::v5::MotorUnits encoder_units = pros::v5::MotorUnits::degrees);
MotorGroup(const std::initializer_list<std::int8_t>, const pros::v5::MotorGears gearset = pros::v5::MotorGears::invalid,
const pros::v5::MotorUnits encoder_units = pros::v5::MotorUnits::invalid);
/**
* Constructs a new MotorGroup object.
*
Expand All @@ -91,13 +90,13 @@ class MotorGroup : public virtual AbstractMotor {
* A reversed motor will reverse the input or output movement functions and movement related
* telemetry in order to produce consistant behavior with non-reversed motors
*
* \param gearset = pros::v5::MotorGears::green
* \param gearset = pros::v5::MotorGears::invalid
* Optional parameter for the gearset for the motor.
* set to pros::v5::MotorGears::green if not specifed.
* Does not explicitly set the motor gearset if it is invalid or not specified
*
* \param encoder_units = pros::v5::MotorUnits::degrees
* \param encoder_units = pros::v5::MotorUnits::invalid
* Optional parameter for the encoder units of the motor
* set to pros::v5::MotorUnits::degrees if not specified by the user
* Does not explicitly set the motor units if it is invalid or not specified
*
* \b Example
* \code
Expand All @@ -109,8 +108,8 @@ class MotorGroup : public virtual AbstractMotor {
* }
* \endcode
*/
explicit MotorGroup(const std::vector<std::int8_t>& ports, const pros::v5::MotorGears gearset = pros::v5::MotorGears::green,
const pros::v5::MotorUnits encoder_units = pros::v5::MotorUnits::degrees);
MotorGroup(const std::vector<std::int8_t>& ports, const pros::v5::MotorGears gearset = pros::v5::MotorGears::invalid,
const pros::v5::MotorUnits encoder_units = pros::v5::MotorUnits::invalid);

/**
* Constructs a new MotorGroup object from an abstract motor.
Expand Down Expand Up @@ -140,7 +139,7 @@ class MotorGroup : public virtual AbstractMotor {
* \endcode
*/

MotorGroup(AbstractMotor& abstract_motor);
MotorGroup(MotorGroup& motor_group);
/// \name Motor movement functions
/// These functions allow programmers to make motors move
///@{
Expand Down Expand Up @@ -1934,6 +1933,8 @@ class MotorGroup : public virtual AbstractMotor {
* \endcode
*/
std::int32_t set_encoder_units_all(const pros::motor_encoder_units_e_t units) const;


/**
* Sets one of the gear cartridge (red, green, blue) for one motor in the motor group. Usable with
* the C++ enum class and the C enum.
Expand All @@ -1942,7 +1943,13 @@ class MotorGroup : public virtual AbstractMotor {
* reached:
* ENODEV - The port cannot be configured as a motor
* EDOM - The motor group is empty
* EOVERFLOW - The index is greater than or equal to MotorGroup::size()
* E2BIG - The size of the vector mismatches the number of motors in the motor group
*
* \note If there are more motors than gearsets passed in,
* only the first n motors will have their gearsets changed where n is the number of gearsets passed in.
* If there are more gearsets passed in than motors, then the only the first m gearsets will be used,
* where m is the number of motors. In either case, errno will be set to E2BIG, but the operation still occurs
*
*
* \param gearset
* The new geatset of the motor
Expand All @@ -1962,7 +1969,7 @@ class MotorGroup : public virtual AbstractMotor {
* }
* \endcode
*/
std::int32_t set_gearing(const MotorGears gearset, const std::uint8_t index = 0) const;
std::int32_t set_gearing(std::vector<pros::motor_gearset_e_t> gearsets) const;
/**
* Sets one of the gear cartridge (red, green, blue) for one motor in the motor group. Usable with
* the C++ enum class and the C enum.
Expand Down Expand Up @@ -1992,6 +1999,67 @@ class MotorGroup : public virtual AbstractMotor {
* \endcode
*/
std::int32_t set_gearing(const pros::motor_gearset_e_t gearset, const std::uint8_t index = 0) const;

/**
* Sets the gear cartridge (red, green, blue) for each motor in the motor group by taking in a vector of the cartridges.
* Usable with the C++ enum class and the C enum.
*
* This function uses the following values of errno when an error state is
* reached:
* ENODEV - The port cannot be configured as a motor
* EDOM - The motor group is empty
* E2BIG - The size of the vector mismatches the number of motors in the motor group
*
* \note If there are more motors than gearsets passed in,
* only the first n motors will have their gearsets changed where n is the number of gearsets passed in.
* If there are more gearsets passed in than motors, then the only the first m gearsets will be used,
* where m is the number of motors. In either case, errno will be set to E2BIG, but the operation still occurs
*
* \param gearset
* The a vector containing the new geatsets of the motors
*
* \return 1 if the operation was successful or PROS_ERR if the operation
* failed, setting errno.
*
* \b Example
* \code
* void initialize() {
* pros::MotorGroup mg({1,3});
* mg.set_gearing(pros::MotorGears::blue, 1);
* std::cout << "Gearset: " << mg.get_gearing();
* }
* \endcode
*/
std::int32_t set_gearing(std::vector<MotorGears> gearsets) const;
/**
* Sets one of the gear cartridge (red, green, blue) for one motor in the motor group. Usable with
* the C++ enum class and the C enum.
*
* This function uses the following values of errno when an error state is
* reached:
* ENODEV - The port cannot be configured as a motor
* EDOM - The motor group is empty
* EOVERFLOW - The index is greater than or equal to MotorGroup::size()
*
* \param gearset
* The new geatset of the motor
*
* \param index Optional parameter, 0 by default.
* The zero indexed index of the motor in the motor group
*
* \return 1 if the operation was successful or PROS_ERR if the operation
* failed, setting errno.
*
* \b Example
* \code
* void initialize() {
* pros::MotorGroup mg({1,3});
* mg.set_gearing(E_MOTOR_GEARSET_06, 1);
* std::cout << "Gearset: " << mg.get_gearing();
* }
* \endcode
*/
std::int32_t set_gearing(const MotorGears gearset, const std::uint8_t index = 0) const;
/**
* Sets one of the gear cartridge (red, green, blue) for one motor in the motor group. Usable with
* the C++ enum class and the C enum.
Expand Down
39 changes: 8 additions & 31 deletions include/pros/motors.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,53 +53,30 @@ class Motor : public AbstractMotor, public Device {
*
* \param gearset = pros::v5::MotorGears::green
* Optional parameter for the gearset for the motor.
* set to pros::v5::MotorGears::green if not specifed.
* Does not explicitly set the gearset if not specified or if the gearset is invalid
*
* \param encoder_units = pros::v5::MotorUnits::degrees
* Optional parameter for the encoder units of the motor
* set to pros::v5::MotorUnits::degrees if not specified by the user
* Does not explicitly set the gearset if not specified or if the gearset is invalid
*
* \b Example
* \code
* void opcontrol() {
* Motor first_motor(1); //Creates a motor on port 1 with green gearset and degrees as the encoder units
* Motor reversed_motor(-2); //Creates a reversed motor on port 1 with standard gearset and encoder units
* Motor blue_motor(3, pros::v5::MotorGears::blue); //Creates a motor on port 3 with blue gear set and degrees
* Motor first_motor(1); //Creates a motor on port 1 without altering gearset or encoder units
* Motor reversed_motor(-2); //Creates a reversed motor on port 1 port 1 without altering gearset or encoder units
* Motor blue_motor(3, pros::v5::MotorGears::blue); //Creates a motor on port 3 with blue gear set
* Motor rotations_motor(4, pros::v5::MotorGears::green, pros::v5::MotorUnits::rotations); port 4 w/ rotations
*
* }
* \endcode
*
*/
explicit Motor(const std::int8_t port, const pros::v5::MotorGears gearset = pros::v5::MotorGears::green,
const pros::v5::MotorUnits encoder_units = pros::v5::MotorUnits::degrees);
Motor(const std::int8_t port, const pros::v5::MotorGears gearset = pros::v5::MotorGears::invalid,
const pros::v5::MotorUnits encoder_units = pros::v5::MotorUnits::invalid);



/**
* Constructs a new Motor object.
*
* 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 a motor
*
* \param The abstract motor to create into a motor
* Creates a new motor on the port of abstract_motor.get_port(), maintaining it's reversal status.
*
*
* \b Example
* \code
* void opcontrol() {
* Motor first_motor(1); //Creates a motor on port 1 with green gearset and degrees as the encoder units
* AbstractMotor abs_motor = first_motor;
* Motor new_motor = (Motor) abs_motor;
*
* }
* \endcode
*
*/
Motor(AbstractMotor& abstract_motor);



/// \name Motor movement functions
Expand Down
38 changes: 33 additions & 5 deletions src/devices/vdml_motorgroup.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,23 +36,31 @@ using namespace pros::c;
}


MotorGroup::MotorGroup(AbstractMotor& abstract_motor) : MotorGroup(abstract_motor.get_port_all()) {
MotorGroup::MotorGroup(MotorGroup& motor_group) : MotorGroup(motor_group.get_port_all()) {
}

MotorGroup::MotorGroup(const std::initializer_list<std::int8_t> ports,
const pros::v5::MotorGears gearset,
const pros::v5::MotorUnits encoder_units)
: _ports(ports) {
set_gearing(gearset);
set_encoder_units(encoder_units);
if (gearset != pros::v5::MotorGears::invalid) {
set_gearing_all(gearset);
}
if (encoder_units != pros::v5::MotorUnits::invalid) {
set_encoder_units_all(encoder_units);
}
}

MotorGroup::MotorGroup(const std::vector<std::int8_t>& ports,
const pros::v5::MotorGears gearset,
const pros::v5::MotorUnits encoder_units)
: _ports(ports) {
set_gearing(gearset);
set_encoder_units(encoder_units);
if (gearset != pros::v5::MotorGears::invalid) {
set_gearing_all(gearset);
}
if (encoder_units != pros::v5::MotorUnits::invalid) {
set_encoder_units_all(encoder_units);
}
}

std::int32_t MotorGroup::operator=(std::int32_t voltage) const {
Expand Down Expand Up @@ -561,7 +569,27 @@ std::int32_t MotorGroup::set_gearing(const motor_gearset_e_t gearset, const std:
MotorGroup_index_check(PROS_ERR, index);
return motor_set_gearing(_ports[index], gearset);
}
std::int32_t MotorGroup::set_gearing(std::vector<motor_gearset_e_t> gearsets) const {
empty_MotorGroup_check(PROS_ERR);
for (int i = 0; i < gearsets.size(); i++){
this->set_gearing(gearsets[i], _ports[i]);
}
if (gearsets.size() != _ports.size()) {
errno = E2BIG;
}
return PROS_SUCCESS;
}

std::int32_t MotorGroup::set_gearing(std::vector<MotorGears> gearsets) const {
empty_MotorGroup_check(PROS_ERR);
for (int i = 0; i < gearsets.size(); i++){
this->set_gearing(gearsets[i], _ports[i]);
}
if (gearsets.size() != _ports.size()) {
errno = E2BIG;
}
return PROS_SUCCESS;
}
std::int32_t MotorGroup::set_gearing(const pros::v5::MotorGear gearset, const std::uint8_t index) const {
empty_MotorGroup_check(PROS_ERR);
MotorGroup_index_check(PROS_ERR, index);
Expand Down
11 changes: 6 additions & 5 deletions src/devices/vdml_motors.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,14 +18,15 @@ namespace pros {
inline namespace v5 {
using namespace pros::c;

Motor::Motor(AbstractMotor& abstract_motor) : Motor(abstract_motor.get_port()) {

}

Motor::Motor(const std::int8_t port, const pros::v5::MotorGears gearset, const pros::v5::MotorUnits encoder_units)
: Device(port, DeviceType::motor), _port(port) {
set_gearing(gearset);
set_encoder_units(encoder_units);
if (gearset != pros::v5::MotorGears::invalid) {
set_gearing(gearset);
}
if (encoder_units != pros::v5::MotorEncoderUnits::invalid) {
set_encoder_units(encoder_units);
}
}

std::int32_t Motor::operator=(std::int32_t voltage) const {
Expand Down