/** * \file pros/adi.h * * Contains prototypes for interfacing with the ADI. * * Visit https://pros.cs.purdue.edu/v5/tutorials/topical/adi.html to learn more. * * This file should not be modified by users, since it gets replaced whenever * a kernel upgrade occurs. * * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots. * * This Source Code Form is subject to the terms of the Mozilla Public * License, v. 2.0. If a copy of the MPL was not distributed with this * file, You can obtain one at http://mozilla.org/MPL/2.0/. */ #ifndef _PROS_ADI_H_ #define _PROS_ADI_H_ #include #include #ifndef PROS_ERR #define PROS_ERR (INT32_MAX) #endif #ifdef __cplusplus extern "C" { namespace pros { #endif /** * Represents the port type for an ADI port. */ typedef enum adi_port_config_e { E_ADI_ANALOG_IN = 0, E_ADI_ANALOG_OUT = 1, E_ADI_DIGITAL_IN = 2, E_ADI_DIGITAL_OUT = 3, #ifdef _INTELLISENSE #define _DEPRECATE_DIGITAL_IN = E_ADI_DIGITAL_IN #define _DEPRECATE_ANALOG_IN = E_ADI_ANALOG_IN #else #define _DEPRECATE_DIGITAL_IN __attribute__((deprecated("use E_ADI_DIGITAL_IN instead"))) = E_ADI_DIGITAL_IN #define _DEPRECATE_ANALOG_IN __attribute__((deprecated("use E_ADI_ANALOG_IN instead"))) = E_ADI_ANALOG_IN #endif E_ADI_SMART_BUTTON _DEPRECATE_DIGITAL_IN, E_ADI_SMART_POT _DEPRECATE_ANALOG_IN, E_ADI_LEGACY_BUTTON _DEPRECATE_DIGITAL_IN, E_ADI_LEGACY_POT _DEPRECATE_ANALOG_IN, E_ADI_LEGACY_LINE_SENSOR _DEPRECATE_ANALOG_IN, E_ADI_LEGACY_LIGHT_SENSOR _DEPRECATE_ANALOG_IN, E_ADI_LEGACY_GYRO = 10, E_ADI_LEGACY_ACCELEROMETER _DEPRECATE_ANALOG_IN, #undef _DEPRECATE_DIGITAL_IN #undef _DEPRECATE_ANALOG_IN E_ADI_LEGACY_SERVO = 12, E_ADI_LEGACY_PWM = 13, E_ADI_LEGACY_ENCODER = 14, E_ADI_LEGACY_ULTRASONIC = 15, E_ADI_TYPE_UNDEFINED = 255, E_ADI_ERR = PROS_ERR } adi_port_config_e_t; /** * Represents the potentiometer version type. */ typedef enum adi_potentiometer_type_e { E_ADI_POT_EDR = 0, E_ADI_POT_V2 } adi_potentiometer_type_e_t; #ifdef PROS_USE_SIMPLE_NAMES #ifdef __cplusplus #define ADI_ANALOG_IN pros::E_ADI_ANALOG_IN #define ADI_ANALOG_OUT pros::E_ADI_ANALOG_OUT #define ADI_DIGITAL_IN pros::E_ADI_DIGITAL_IN #define ADI_DIGITAL_OUT pros::E_ADI_DIGITAL_OUT #define ADI_SMART_BUTTON pros::E_ADI_SMART_BUTTON #define ADI_SMART_POT pros::E_ADI_SMART_POT #define ADI_LEGACY_BUTTON pros::E_ADI_LEGACY_BUTTON #define ADI_LEGACY_POT pros::E_ADI_LEGACY_POT #define ADI_LEGACY_LINE_SENSOR pros::E_ADI_LEGACY_LINE_SENSOR #define ADI_LEGACY_LIGHT_SENSOR pros::E_ADI_LEGACY_LIGHT_SENSOR #define ADI_LEGACY_GYRO pros::E_ADI_LEGACY_GYRO #define ADI_LEGACY_ACCELEROMETER pros::E_ADI_LEGACY_ACCELEROMETER #define ADI_LEGACY_SERVO pros::E_ADI_LEGACY_SERVO #define ADI_LEGACY_PWM pros::E_ADI_LEGACY_PWM #define ADI_LEGACY_ENCODER pros::E_ADI_LEGACY_ENCODER #define ADI_LEGACY_ULTRASONIC pros::E_ADI_LEGACY_ULTRASONIC #define ADI_TYPE_UNDEFINED pros::E_ADI_TYPE_UNDEFINED #define ADI_ERR pros::E_ADI_ERR #else #define ADI_ANALOG_IN E_ADI_ANALOG_IN #define ADI_ANALOG_OUT E_ADI_ANALOG_OUT #define ADI_DIGITAL_IN E_ADI_DIGITAL_IN #define ADI_DIGITAL_OUT E_ADI_DIGITAL_OUT #define ADI_SMART_BUTTON E_ADI_SMART_BUTTON #define ADI_SMART_POT E_ADI_SMART_POT #define ADI_LEGACY_BUTTON E_ADI_LEGACY_BUTTON #define ADI_LEGACY_POT E_ADI_LEGACY_POT #define ADI_LEGACY_LINE_SENSOR E_ADI_LEGACY_LINE_SENSOR #define ADI_LEGACY_LIGHT_SENSOR E_ADI_LEGACY_LIGHT_SENSOR #define ADI_LEGACY_GYRO E_ADI_LEGACY_GYRO #define ADI_LEGACY_ACCELEROMETER E_ADI_LEGACY_ACCELEROMETER #define ADI_LEGACY_SERVO E_ADI_LEGACY_SERVO #define ADI_LEGACY_PWM E_ADI_LEGACY_PWM #define ADI_LEGACY_ENCODER E_ADI_LEGACY_ENCODER #define ADI_LEGACY_ULTRASONIC E_ADI_LEGACY_ULTRASONIC #define ADI_TYPE_UNDEFINED E_ADI_TYPE_UNDEFINED #define ADI_ERR E_ADI_ERR #endif #endif #define INTERNAL_ADI_PORT 22 #define NUM_ADI_PORTS 8 #ifdef __cplusplus namespace c { #endif /******************************************************************************/ /** General ADI Use Functions **/ /** **/ /** These functions allow for interaction with any ADI port type **/ /******************************************************************************/ /** * Gets the configuration for the given ADI 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 port * The ADI port number (from 1-8, 'a'-'h', 'A'-'H') for which to return * the configuration * * \return The ADI configuration for the given port */ adi_port_config_e_t adi_port_get_config(uint8_t port); /** * Gets the value for the given ADI 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 port * The ADI port number (from 1-8, 'a'-'h', 'A'-'H') for which the value * will be returned * * \return The value stored for the given port */ int32_t adi_port_get_value(uint8_t port); /** * Configures an ADI port to act as a given sensor type. * * 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 * The ADI port number (from 1-8, 'a'-'h', 'A'-'H') to configure * \param type * The configuration type for the port * * \return 1 if the operation was successful or PROS_ERR if the operation * failed, setting errno. */ int32_t adi_port_set_config(uint8_t port, adi_port_config_e_t type); /** * Sets the value for the given ADI port. * * This only works on ports configured as outputs, and the behavior will change * depending on the configuration of the 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 port * The ADI port number (from 1-8, 'a'-'h', 'A'-'H') for which the value * will be set * \param value * The value to set the ADI port to * * \return 1 if the operation was successful or PROS_ERR if the operation * failed, setting errno. */ int32_t adi_port_set_value(uint8_t port, int32_t value); /******************************************************************************/ /** PROS 2 Compatibility Functions **/ /** **/ /** These functions provide similar functionality to the PROS 2 API **/ /******************************************************************************/ /** * Used for adi_digital_write() to specify a logic HIGH state to output. * * In reality, using any non-zero expression or "true" will work to set a pin to * HIGH. */ #define HIGH 1 /** * Used for adi_digital_write() to specify a logic LOW state to output. * * In reality, using a zero expression or "false" will work to set a pin to LOW. */ #define LOW 0 /** * adi_pin_mode() state for a digital input. */ #define INPUT 0x00 /** * adi_pin_mode() state for a digital output. */ #define OUTPUT 0x01 /** * adi_pin_mode() state for an analog input. */ #define INPUT_ANALOG 0x02 /** * adi_pin_mode() state for an analog output. */ #define OUTPUT_ANALOG 0x03 /** * Calibrates the analog sensor on the specified port and returns the new * calibration value. * * This method assumes that the true sensor value is not actively changing at * this time and computes an average from approximately 500 samples, 1 ms apart, * for a 0.5 s period of calibration. The average value thus calculated is * returned and stored for later calls to the adi_analog_read_calibrated() and * adi_analog_read_calibrated_HR() functions. These functions will return * the difference between this value and the current sensor value when called. * * Do not use this function when the sensor value might be unstable * (gyro rotation, accelerometer movement). * * 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 * The ADI port to calibrate (from 1-8, 'a'-'h', 'A'-'H') * * \return The average sensor value computed by this function */ int32_t adi_analog_calibrate(uint8_t port); /** * Gets the 12-bit value of the specified port. * * The value returned is undefined if the analog pin has been switched to a * different mode. * * 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 * EADDRINUSE - The port is not configured as an analog input * * \param port * The ADI port (from 1-8, 'a'-'h', 'A'-'H') for which the value will be * returned * * \return The analog sensor value, where a value of 0 reflects an input voltage * of nearly 0 V and a value of 4095 reflects an input voltage of nearly 5 V */ int32_t adi_analog_read(uint8_t port); /** * Gets the 12 bit calibrated value of an analog input port. * * The adi_analog_calibrate() function must be run first. This function is * inappropriate for sensor values intended for integration, as round-off error * can accumulate causing drift over time. Use adi_analog_read_calibrated_HR() * instead. * * 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 * EADDRINUSE - The port is not configured as an analog input * * \param port * The ADI port (from 1-8, 'a'-'h', 'A'-'H') for which the value will be * returned * * \return The difference of the sensor value from its calibrated default from * -4095 to 4095 */ int32_t adi_analog_read_calibrated(uint8_t port); /** * Gets the 16 bit calibrated value of an analog input port. * * The adi_analog_calibrate() function must be run first. This is intended for * integrated sensor values such as gyros and accelerometers to reduce drift due * to round-off, and should not be used on a sensor such as a line tracker * or potentiometer. * * The value returned actually has 16 bits of "precision", even though the ADC * only reads 12 bits, so that error induced by the average value being between * two values when integrated over time is trivial. Think of the value as the * true value times 16. * * 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 * EADDRINUSE - The port is not configured as an analog input * * \param port * The ADI port (from 1-8, 'a'-'h', 'A'-'H') for which the value will be * returned * * \return The difference of the sensor value from its calibrated default from * -16384 to 16384 */ int32_t adi_analog_read_calibrated_HR(uint8_t port); /** * Gets the digital value (1 or 0) of a port configured as a digital input. * * If the port is configured as some other mode, the digital value which * reflects the current state of the port is returned, which may or may not * differ from the currently set value. The return value is undefined for ports * configured as any mode other than a Digital Input. * * 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 * EADDRINUSE - The port is not configured as a digital input * * \param port * The ADI port to read (from 1-8, 'a'-'h', 'A'-'H') * * \return True if the pin is HIGH, or false if it is LOW */ int32_t adi_digital_read(uint8_t port); /** * Gets a rising-edge case for a digital button press. * * This function is not thread-safe. * Multiple tasks polling a single button may return different results under the * same circumstances, so only one task should call this function for any given * button. E.g., Task A calls this function for buttons 1 and 2. Task B may call * this function for button 3, but should not for buttons 1 or 2. A typical * use-case for this function is to call inside opcontrol to detect new button * presses, and not in any other tasks. * * 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 * EADDRINUSE - The port is not configured as a digital input * * \param port * The ADI port to read (from 1-8, 'a'-'h', 'A'-'H') * * \return 1 if the button is pressed and had not been pressed * the last time this function was called, 0 otherwise. */ int32_t adi_digital_get_new_press(uint8_t port); /** * Sets the digital value (1 or 0) of a port configured as a digital output. * * If the port is configured as some other mode, behavior is undefined. * * 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 * EADDRINUSE - The port is not configured as a digital output * * \param port * The ADI port to read (from 1-8, 'a'-'h', 'A'-'H') * \param value * An expression evaluating to "true" or "false" to set the output to * HIGH or LOW respectively, or the constants HIGH or LOW themselves * * \return 1 if the operation was successful or PROS_ERR if the operation * failed, setting errno. */ int32_t adi_digital_write(uint8_t port, bool value); /** * Configures the port as an input or output with a variety of settings. * * 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 * The ADI port to read (from 1-8, 'a'-'h', 'A'-'H') * \param mode * One of INPUT, INPUT_ANALOG, INPUT_FLOATING, OUTPUT, or OUTPUT_OD * * \return 1 if the operation was successful or PROS_ERR if the operation * failed, setting errno. */ int32_t adi_pin_mode(uint8_t port, uint8_t mode); /** * Sets the speed of the motor on 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 * EADDRINUSE - The port is not configured as an motor * * \param port * The ADI port to set (from 1-8, 'a'-'h', 'A'-'H') * \param speed * The new signed speed; -127 is full reverse and 127 is full forward, * with 0 being off * * \return 1 if the operation was successful or PROS_ERR if the operation * failed, setting errno. */ int32_t adi_motor_set(uint8_t port, int8_t speed); /** * Gets the last set speed of the motor on 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 * EADDRINUSE - The port is not configured as an motor * * \param port * The ADI port to get (from 1-8, 'a'-'h', 'A'-'H') * * \return The last set speed of the motor on the given port */ int32_t adi_motor_get(uint8_t port); /** * Stops the motor on 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 * EADDRINUSE - The port is not configured as an motor * * \param port * The ADI port to set (from 1-8, 'a'-'h', 'A'-'H') * * \return 1 if the operation was successful or PROS_ERR if the operation * failed, setting errno. */ int32_t adi_motor_stop(uint8_t port); /** * Reference type for an initialized encoder. * * This merely contains the port number for the encoder, unlike its use as an * object to store encoder data in PROS 2. */ typedef int32_t adi_encoder_t; /** * Gets the number of ticks recorded by the encoder. * * There are 360 ticks in one revolution. * * 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 * EADDRINUSE - The port is not configured as an encoder * * \param enc * The adi_encoder_t object from adi_encoder_init() to read * * \return The signed and cumulative number of counts since the last start or * reset */ int32_t adi_encoder_get(adi_encoder_t enc); /** * Creates an encoder object and configures the specified ports accordingly. * * 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 * EADDRINUSE - The port is not configured as an encoder * * \param port_top * The "top" wire from the encoder sensor with the removable cover side * up. This should be in port 1, 3, 5, or 7 ('A', 'C', 'E', or 'G'). * \param port_bottom * The "bottom" wire from the encoder sensor * \param reverse * If "true", the sensor will count in the opposite direction * * \return An adi_encoder_t object to be stored and used for later calls to * encoder functions */ adi_encoder_t adi_encoder_init(uint8_t port_top, uint8_t port_bottom, bool reverse); /** * Sets the encoder value to zero. * * It is safe to use this method while an encoder is enabled. It is not * necessary to call this method before stopping or starting an encoder. * * 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 * EADDRINUSE - The port is not configured as an encoder * * \param enc * The adi_encoder_t object from adi_encoder_init() to reset * * \return 1 if the operation was successful or PROS_ERR if the operation * failed, setting errno. */ int32_t adi_encoder_reset(adi_encoder_t enc); /** * Disables the encoder and voids the configuration on its ports. * * 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 * EADDRINUSE - The port is not configured as an encoder * * \param enc * The adi_encoder_t object from adi_encoder_init() to stop * * \return 1 if the operation was successful or PROS_ERR if the operation * failed, setting errno. */ int32_t adi_encoder_shutdown(adi_encoder_t enc); /** * Reference type for an initialized ultrasonic. * * This merely contains the port number for the ultrasonic, unlike its use as an * object to store ultrasonic data in PROS 2. */ typedef int32_t adi_ultrasonic_t; /** * Gets the current ultrasonic sensor value in centimeters. * * If no object was found, zero is returned. If the ultrasonic sensor was never * started, the return value is undefined. Round and fluffy objects can cause * inaccurate values to be returned. * * 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 * EADDRINUSE - The port is not configured as an ultrasonic * * \param ult * The adi_ultrasonic_t object from adi_ultrasonic_init() to read * * \return The distance to the nearest object in m^-4 (10000 indicates 1 meter), * measured from the sensor's mounting points. */ int32_t adi_ultrasonic_get(adi_ultrasonic_t ult); /** * Creates an ultrasonic object and configures the specified ports accordingly. * * 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 * EADDRINUSE - The port is not configured as an ultrasonic * * \param port_ping * The port connected to the orange OUTPUT cable. This should be in port * 1, 3, 5, or 7 ('A', 'C', 'E', 'G'). * \param port_echo * The port connected to the yellow INPUT cable. This should be in the * next highest port following port_ping. * * \return An adi_ultrasonic_t object to be stored and used for later calls to * ultrasonic functions */ adi_ultrasonic_t adi_ultrasonic_init(uint8_t port_ping, uint8_t port_echo); /** * Disables the ultrasonic sensor and voids the configuration on its ports. * * 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 * EADDRINUSE - The port is not configured as an ultrasonic * * \param ult * The adi_ultrasonic_t object from adi_ultrasonic_init() to stop * * \return 1 if the operation was successful or PROS_ERR if the operation * failed, setting errno. */ int32_t adi_ultrasonic_shutdown(adi_ultrasonic_t ult); /** * Reference type for an initialized gyroscope. * * This merely contains the port number for the gyroscope, unlike its use as an * object to store gyro data in PROS 2. */ typedef int32_t adi_gyro_t; /** * Gets the current gyro angle in tenths of a degree. Unless a multiplier is * applied to the gyro, the return value will be a whole number representing * the number of degrees of rotation times 10. * * There are 360 degrees in a circle, thus the gyro will return 3600 for one * whole rotation. * * 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 * EADDRINUSE - The port is not configured as a gyro * * \param gyro * The adi_gyro_t object for which the angle will be returned * * \return The gyro angle in degrees. */ double adi_gyro_get(adi_gyro_t gyro); /** * Initializes a gyroscope on the given port. If the given port has not * previously been configured as a gyro, then this function starts a 1300 ms * calibration period. * * It is highly recommended that this function be called from initialize() when * the robot is stationary to ensure proper calibration. * * 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 * EADDRINUSE - The port is not configured as a gyro * * \param port * The ADI port to initialize as a gyro (from 1-8, 'a'-'h', 'A'-'H') * \param multiplier * A scalar value that will be multiplied by the gyro heading value * supplied by the ADI * * \return An adi_gyro_t object containing the given port, or PROS_ERR if the * initialization failed. */ adi_gyro_t adi_gyro_init(uint8_t port, double multiplier); /** * Resets the gyroscope value to zero. * * 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 * EADDRINUSE - The port is not configured as a gyro * * \param gyro * The adi_gyro_t object for which the angle will be returned * * \return 1 if the operation was successful or PROS_ERR if the operation * failed, setting errno. */ int32_t adi_gyro_reset(adi_gyro_t gyro); /** * Disables the gyro and voids the configuration on its 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 * EADDRINUSE - The port is not configured as a gyro * * \param gyro * The adi_gyro_t object to be shut down * * \return 1 if the operation was successful or PROS_ERR if the operation * failed, setting errno. */ int32_t adi_gyro_shutdown(adi_gyro_t gyro); /** * Reference type for an initialized potentiometer. * * This merely contains the port number for the potentiometer, unlike its use as an * object to store potentiometer data in PROS 2. */ typedef int32_t adi_potentiometer_t; /** * Initializes a potentiometer on the given port of the original potentiometer. * * 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 * EADDRINUSE - The port is not configured as a potentiometer * * \param port * The ADI port to initialize as a gyro (from 1-8, 'a'-'h', 'A'-'H') * * \return An adi_potentiometer_t object containing the given port, or PROS_ERR if the * initialization failed. */ adi_potentiometer_t adi_potentiometer_init(uint8_t port); /** * Initializes a potentiometer on 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 * EADDRINUSE - The port is not configured as a potentiometer * * \param port * The ADI port to initialize as a gyro (from 1-8, 'a'-'h', 'A'-'H') * \param potentiometer_type * An adi_potentiometer_type_e_t enum value specifying the potentiometer version type * * \return An adi_potentiometer_t object containing the given port, or PROS_ERR if the * initialization failed. */ adi_potentiometer_t adi_potentiometer_type_init(uint8_t port, adi_potentiometer_type_e_t potentiometer_type); /** * Gets the current potentiometer angle in tenths of a degree. * * The original potentiometer rotates 250 degrees thus returning an angle between 0-250 degrees. * Potentiometer V2 rotates 330 degrees thus returning an angle between 0-330 degrees. * * 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 * EADDRINUSE - The port is not configured as a potentiometer * * \param potentiometer * The adi_potentiometer_t object for which the angle will be returned * * \return The potentiometer angle in degrees. */ double adi_potentiometer_get_angle(adi_potentiometer_t potentiometer); /** * Reference type for an initialized addressable led. * * This merely contains the port number for the led, unlike its use as an * object to store led data in PROS 2. */ typedef int32_t adi_led_t; /** * Initializes a led on the given port of the original led. * * 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 * EINVAL - The ADI port given is not a valid port as defined below * EADDRINUSE - The port is not configured for ADI output * * \param port * The ADI port to initialize as a led (from 1-8, 'a'-'h', 'A'-'H') * * \return An adi_led_t object containing the given port, or PROS_ERR if the * initialization failed, setting errno */ adi_led_t adi_led_init(uint8_t port); /** * @brief Clear the entire led strip of color * * 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 * EINVAL - A given value is not correct, or the buffer is null * EADDRINUSE - The port is not configured for ADI output * * @param led port of type adi_led_t * @param buffer array of colors in format 0xRRGGBB, recommended that individual RGB value not to exceed 0x80 due to current draw * @param buffer_length length of buffer to clear * @return PROS_SUCCESS if successful, PROS_ERR if not */ int32_t adi_led_clear_all(adi_led_t led, uint32_t* buffer, uint32_t buffer_length); /** * @brief Set the entire led strip using the colors contained in the buffer * * 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 * EINVAL - A given value is not correct, or the buffer is null * EADDRINUSE - The port is not configured for ADI output * * @param led port of type adi_led_t * @param buffer array of colors in format 0xRRGGBB, recommended that individual RGB value not to exceed 0x80 due to current draw * @param buffer_length length of buffer to clear * @return PROS_SUCCESS if successful, PROS_ERR if not */ int32_t adi_led_set(adi_led_t led, uint32_t* buffer, uint32_t buffer_length); /** * @brief Set the entire led strip to one color * * 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 * EINVAL - A given value is not correct, or the buffer is null * EADDRINUSE - The port is not configured for ADI output * * @param led port of type adi_led_t * @param buffer array of colors in format 0xRRGGBB, recommended that individual RGB value not to exceed 0x80 due to current draw * @param buffer_length length of buffer to clear * @param color color to set all the led strip value to * @return PROS_SUCCESS if successful, PROS_ERR if not */ int32_t adi_led_set_all(adi_led_t led, uint32_t* buffer, uint32_t buffer_length, uint32_t color); /** * @brief Set one pixel on the led strip * * 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 * EINVAL - A given value is not correct, or the buffer is null * EADDRINUSE - The port is not configured for ADI output * * @param led port of type adi_led_t * @param buffer array of colors in format 0xRRGGBB, recommended that individual RGB value not to exceed 0x80 due to current draw * @param buffer_length length of the input buffer * @param color color to clear all the led strip to * @param pixel_position position of the pixel to clear * @return PROS_SUCCESS if successful, PROS_ERR if not */ int32_t adi_led_set_pixel(adi_led_t led, uint32_t* buffer, uint32_t buffer_length, uint32_t color, uint32_t pixel_position); /** * @brief Clear one pixel on the led strip * * 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 * EINVAL - A given value is not correct, or the buffer is null * EADDRINUSE - The port is not configured for ADI output * * @param led port of type adi_led_t * @param buffer array of colors in format 0xRRGGBB, recommended that individual RGB value not to exceed 0x80 due to current draw * @param buffer_length length of the input buffer * @param pixel_position position of the pixel to clear * @return PROS_SUCCESS if successful, PROS_ERR if not */ int32_t adi_led_clear_pixel(adi_led_t led, uint32_t* buffer, uint32_t buffer_length, uint32_t pixel_position); #ifdef __cplusplus } // namespace c } // namespace pros } #endif #endif // _PROS_ADI_H_