🔀Release Candidate 3.8.2

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,31 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: "\U0001F41B[BUG] - "
+labels: bug
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Go to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Desktop (please complete the following information):**
+ - OS: [e.g. iOS, Windows, Linux]
+ - Version [e.g. 22]
+
+**Additional context**
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,19 @@
+---
+name: Feature request
+about: Suggest an idea for the PROS kernel
+title: "✨[FEATURE REQUEST]"
+labels: enhancement
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**What is the behavior that isn't addressed by the existing API?**
+
+**OPTIONAL Describe any solutions you've considered**
+A clear and concise description of any solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

include/pros/gps.h

@@ -188,6 +188,91 @@ double gps_get_error(uint8_t port);
  */
 gps_status_s_t gps_get_status(uint8_t port);
 
+/**
+ * Gets the X position in meters of the robot relative to the starting position.
+ *
+ * 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 GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The X position in meters. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
+double gps_get_x_position(uint8_t port);
+
+/**
+ * Gets the Y position in meters of the robot relative to the starting position.
+ * 
+ * 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 GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The Y position in meters. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
+double gps_get_y_position(uint8_t port);
+
+/**
+ * Gets the pitch of the GPS in degrees relative to the starting orientation.
+ *
+ * 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 GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The pitch in (-90,90] degree values. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
+double gps_get_pitch(uint8_t port);
+
+/**
+ * Gets the roll of the GPS in degrees relative to the starting orientation.
+ *
+ * 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 GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The roll in (-180,180] degree values. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
+double gps_get_roll(uint8_t port);
+
+/**
+ * Gets the yaw of the GPS in degrees relative to the starting orientation.
+ *
+ * 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 GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The yaw in (-180,180] degree values. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
+double gps_get_yaw(uint8_t port);
+
 /**
  * Get the heading in [0,360) degree values.
  *

include/pros/gps.hpp

@@ -173,6 +173,81 @@ class Gps {
 	 */
 	virtual pros::c::gps_status_s_t get_status() const;
 
+	/**
+	 * Gets the X position in meters of the robot relative to the starting position.
+	 *
+	 * 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 GPS
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 *
+	 * \return The X position in meters. If the operation failed,
+	 * returns PROS_ERR_F and errno is set.
+	 */
+	virtual double get_x_position() const;
+
+	/**
+	 * Gets the Y position in meters of the robot relative to the starting position.
+	 *
+	 * 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 GPS
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 *
+	 * \return The Y position in meters. If the operation failed,
+	 * returns PROS_ERR_F and errno is set.
+	 */
+	virtual double get_y_position() const;
+
+	/**
+	 * Gets the pitch of the GPS in degrees relative to the starting orientation.
+	 *
+	 * 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 GPS
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 *
+	 * \return The pitch in [0,360) degree values. If the operation failed,
+	 * returns PROS_ERR_F and errno is set.
+	 */
+	virtual double get_pitch() const;
+
+	/**
+	 * Gets the roll of the GPS in degrees relative to the starting orientation.
+	 *
+	 * 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 GPS
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 *
+	 * \return The roll in [0,360) degree values. If the operation failed,
+	 * returns PROS_ERR_F and errno is set.
+	 */
+	virtual double get_roll() const;
+
+	/**
+	 * Gets the yaw of the GPS in degrees relative to the starting orientation.
+	 *
+	 * 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 GPS
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 *
+	 * \return The yaw in [0,360) degree values. If the operation failed,
+	 * returns PROS_ERR_F and errno is set.
+	 */
+	virtual double get_yaw() const;
+
 	/**
 	 * Get the heading in [0,360) degree values.
 	 *

include/pros/imu.h

@@ -29,7 +29,8 @@ namespace c {
 #endif
 
 typedef enum imu_status_e {
-	E_IMU_STATUS_CALIBRATING = 0x01,
+	E_IMU_STATUS_READY = 0, // IMU is connected but not currently calibrating
+	E_IMU_STATUS_CALIBRATING = 19, // IMU is calibrating
 	E_IMU_STATUS_ERROR = 0xFF,  // NOTE: used for returning an error from the get_status function, not that the IMU is
 	                            // necessarily in an error state
 } imu_status_e_t;