102 lines
3.0 KiB
C
102 lines
3.0 KiB
C
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/**
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* \file pros/distance.h
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*
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* Contains prototypes for functions related to the VEX Distance sensor.
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*
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* Visit https://pros.cs.purdue.edu/v5/tutorials/topical/distance.html to learn
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* more.
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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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*
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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_DISTANCE_H_
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#define _PROS_DISTANCE_H_
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#include <stdbool.h>
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#include <stdint.h>
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#ifdef __cplusplus
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extern "C" {
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namespace pros {
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namespace c {
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#endif
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/**
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* Get the currently measured distance from the sensor in mm
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Distance Sensor
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*
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* \param port The V5 Distance Sensor port number from 1-21
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* \return The distance value or PROS_ERR if the operation failed, setting
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* errno.
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*/
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int32_t distance_get(uint8_t port);
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/**
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* Get the confidence in the distance reading
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*
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* This is a value that has a range of 0 to 63. 63 means high confidence,
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* lower values imply less confidence. Confidence is only available
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* when distance is > 200mm (the value 10 is returned in this scenario).
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Distance Sensor
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*
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* \param port The V5 Distance Sensor port number from 1-21
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* \return The confidence value or PROS_ERR if the operation failed, setting
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* errno.
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*/
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int32_t distance_get_confidence(uint8_t port);
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/**
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* Get the current guess at relative object size
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*
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* This is a value that has a range of 0 to 400.
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* A 18" x 30" grey card will return a value of approximately 75
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* in typical room lighting.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Distance Sensor
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*
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* \param port The V5 Distance Sensor port number from 1-21
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* \return The size value or PROS_ERR if the operation failed, setting
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* errno.
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*/
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int32_t distance_get_object_size(uint8_t port);
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/**
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* Get the object velocity in m/s
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Distance Sensor
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*
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* \param port The V5 Distance Sensor port number from 1-21
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* \return The velocity value or PROS_ERR if the operation failed, setting
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* errno.
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*/
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double distance_get_object_velocity(uint8_t port);
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#ifdef __cplusplus
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}
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}
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}
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#endif
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#endif
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