109 lines
3.6 KiB
C
109 lines
3.6 KiB
C
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/**
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* \file pros/api_legacy.h
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*
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* PROS 2 Legacy API header
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*
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* Contains declarations for functions that are name-compatible with the PROS 2
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* API. Some functions from the PROS 2 API are not useful or cannot be
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* implemented in PROS 3, but most common functions are available.
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*
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* This file should not be modified by users, since it gets replaced whenever
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* a kernel upgrade occurs.
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*
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* \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
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* All rights reserved.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#ifndef _PROS_API_LEGACY_H_
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#define _PROS_API_LEGACY_H_
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#include "api.h"
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#ifdef __cplusplus
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#define _NAMESPACE pros::
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#define _CNAMESPACE pros::c::
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#else
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#define _NAMESPACE
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#define _CNAMESPACE
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#endif
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/**
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* From adi.h
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*/
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#define analogCalibrate(port) adi_analog_calibrate(port)
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#define analogRead(port) adi_analog_read(port)
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#define analogReadCalibrated(port) adi_analog_read_calibrated(port)
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#define analogReadCalibratedHR(port) adi_analog_read_calibrated_HR(port)
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#define digitalRead(port) adi_digital_read(port)
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#define digitalWrite(port, value) adi_digital_write(port, value)
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#define pinMode(port, mode) adi_pin_mode(port, mode)
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#define adiMotorSet(port, speed) adi_motor_set(port, speed)
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#define adiMotorGet(port) adi_motor_get(port)
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#define adiMotorStop(port) adi_motor_stop(port)
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#define encoderGet(enc) adi_encoder_get(enc)
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#define encoderInit(portTop, portBottom, reverse) adi_encoder_init(portTop, portBottom, reverse)
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#define encoderShutdown(enc) adi_encoder_shutdown(enc)
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#define ultrasonicGet(ult) adi_ultrasonic_get(ult)
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#define ultrasonicInit(portEcho, portPing) adi_ultrasonic_init(portEcho, portPing)
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#define ultrasonicShutdown(ult) adi_ultrasonic_shutdown(ult)
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typedef _CNAMESPACE adi_encoder_t Encoder;
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typedef _CNAMESPACE adi_ultrasonic_t Ultrasonic;
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/**
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* From llemu.h
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*/
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#define lcdInit lcd_initialize
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#define lcdReadButtons lcd_read_buttons
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#define lcdClear lcd_clear
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#define lcdClearLine lcd_clear_line
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#define lcdShutdown lcd_shutdown
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#define lcdPrint(line, fmt, ...) lcd_print(line, fmt, __VA_ARGS__)
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#define lcdSetText(line, text) lcd_set_text(line, text)
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/**
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* From misc.h
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*/
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#define isEnabled() (!competition_is_disabled())
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#define isAutonomous competition_is_autonomous
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#define isOnline competition_is_connected
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#define isJoystickConnected(id) controller_is_connected(id)
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#define joystickGetAnalog(id, channel) controller_get_analog(id, channel)
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/**
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* From rtos.h
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*/
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#define taskCreate(taskCode, stackDepth, parameters, priority) \
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task_create(taskCode, parameters, priority, stackDepth, "")
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#define taskDelete(task) task_delete(task)
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#define taskDelay task_delay
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#define taskDelayUntil(previousWakeTime, cycleTime) task_delay_until(previousWakeTime, cycleTime)
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#define taskPriorityGet(task) task_get_priority(task)
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#define taskPrioritySet(task, newPriority) task_priority_set(task, newPriority)
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#define taskGetState(task) task_get_state(task)
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#define taskSuspend(task) task_suspend(task)
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#define taskResume(task) task_resume(task)
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#define taskGetCount task_get_count
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#define mutexCreate mutex_create
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#define mutexTake(mutex, blockTime) mutex_take(mutex, blockTime)
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#define mutexGive(mutex) mutex_give(mutex)
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typedef _NAMESPACE task_t TaskHandle;
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typedef _NAMESPACE mutex_t Mutex;
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/**
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* From motors.h
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*/
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#define motorSet(port, speed) motor_move(port, speed)
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#define motorGet(port) motor_get_voltage(port)
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#define motorStop(port) motor_move(port, 0)
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#undef _NAMESPACE
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#undef _CNAMESPACE
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#endif // _PROS_API_LEGACY_H_
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