794 lines
30 KiB
C++
794 lines
30 KiB
C++
/**
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* \file pros/ext_adi.h
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*
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* Contains prototypes for interfacing with the 3-Wire Expander.
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*
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* Visit https://pros.cs.purdue.edu/v5/tutorials/topical/adi.html to learn 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_EXT_ADI_H_
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#define _PROS_EXT_ADI_H_
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#include <stdbool.h>
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#include <stdint.h>
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#include "adi.h"
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#include "pros/adi.h"
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#ifndef PROS_ERR
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#define PROS_ERR (INT32_MAX)
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#endif
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#ifdef __cplusplus
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extern "C" {
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namespace pros {
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#endif
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#ifdef __cplusplus
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namespace c {
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#endif
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/******************************************************************************/
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/** General ADI Use Functions **/
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/** **/
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/** These functions allow for interaction with any ADI port type **/
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/******************************************************************************/
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/**
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* Gets the configuration for the given ADI port.
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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 - Either the ADI port value or the smart port value is not within its
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* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
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*
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* \param smart_port
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* The smart port number that the ADI Expander is in
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* \param adi_port
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* The ADI port number (from 1-8, 'a'-'h', 'A'-'H') for which to return
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* the configuration
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*
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* \return The ADI configuration for the given port
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*/
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adi_port_config_e_t ext_adi_port_get_config(uint8_t smart_port, uint8_t adi_port);
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/**
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* Gets the value for the given ADI port.
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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 - Either the ADI port value or the smart port value is not within its
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* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
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*
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* \param smart_port
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* The smart port number that the ADI Expander is in
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* \param adi_port
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* The ADI port number (from 1-8, 'a'-'h', 'A'-'H') for which to return
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* the configuration
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*
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* \return The value stored for the given port
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*/
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int32_t ext_adi_port_get_value(uint8_t smart_port, uint8_t adi_port);
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/**
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* Configures an ADI port to act as a given sensor type.
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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 - Either the ADI port value or the smart port value is not within its
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* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
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*
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* \param smart_port
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* The smart port number that the ADI Expander is in
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* \param adi_port
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* The ADI port number (from 1-8, 'a'-'h', 'A'-'H') to configure
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* \param type
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* The configuration type for the port
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*
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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int32_t ext_adi_port_set_config(uint8_t smart_port, uint8_t adi_port, adi_port_config_e_t type);
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/**
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* Sets the value for the given ADI port.
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*
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* This only works on ports configured as outputs, and the behavior will change
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* depending on the configuration of the port.
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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 - Either the ADI port value or the smart port value is not within its
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* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
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*
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* \param smart_port
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* The smart port number that the ADI Expander is in
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* \param adi_port
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* The ADI port number (from 1-8, 'a'-'h', 'A'-'H') for which the value
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* will be set
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* \param value
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* The value to set the ADI port to
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*
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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int32_t ext_adi_port_set_value(uint8_t smart_port, uint8_t adi_port, int32_t value);
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/**
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* Calibrates the analog sensor on the specified port and returns the new
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* calibration value.
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*
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* This method assumes that the true sensor value is not actively changing at
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* this time and computes an average from approximately 500 samples, 1 ms apart,
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* for a 0.5 s period of calibration. The average value thus calculated is
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* returned and stored for later calls to the adi_analog_read_calibrated() and
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* adi_analog_read_calibrated_HR() functions. These functions will return
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* the difference between this value and the current sensor value when called.
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*
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* Do not use this function when the sensor value might be unstable
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* (gyro rotation, accelerometer movement).
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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 - Either the ADI port value or the smart port value is not within its
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* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
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*
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* \param smart_port
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* The smart port number that the ADI Expander is in
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* \param adi_port
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* The ADI port to calibrate (from 1-8, 'a'-'h', 'A'-'H')
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*
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* \return The average sensor value computed by this function
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*/
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int32_t ext_adi_analog_calibrate(uint8_t smart_port, uint8_t adi_port);
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/**
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* Gets the 12-bit value of the specified port.
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*
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* The value returned is undefined if the analog pin has been switched to a
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* different mode.
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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 - Either the ADI port value or the smart port value is not within its
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* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
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* EADDRINUSE - The port is not configured as an analog input
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*
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* \param smart_port
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* The smart port number that the ADI Expander is in
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* \param adi_port
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* The ADI port (from 1-8, 'a'-'h', 'A'-'H') for which the value will be
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* returned
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*
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* \return The analog sensor value, where a value of 0 reflects an input voltage
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* of nearly 0 V and a value of 4095 reflects an input voltage of nearly 5 V
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*/
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int32_t ext_adi_analog_read(uint8_t smart_port, uint8_t adi_port);
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/**
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* Gets the 12 bit calibrated value of an analog input port.
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*
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* The adi_analog_calibrate() function must be run first. This function is
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* inappropriate for sensor values intended for integration, as round-off error
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* can accumulate causing drift over time. Use adi_analog_read_calibrated_HR()
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* instead.
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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 - Either the ADI port value or the smart port value is not within its
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* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
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* EADDRINUSE - The port is not configured as an analog input
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*
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* \param smart_port
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* The smart port number that the ADI Expander is in
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* \param adi_port
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* The ADI port (from 1-8, 'a'-'h', 'A'-'H') for which the value will be
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* returned
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*
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* \return The difference of the sensor value from its calibrated default from
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* -4095 to 4095
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*/
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int32_t ext_adi_analog_read_calibrated(uint8_t smart_port, uint8_t adi_port);
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/**
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* Gets the 16 bit calibrated value of an analog input port.
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*
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* The adi_analog_calibrate() function must be run first. This is intended for
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* integrated sensor values such as gyros and accelerometers to reduce drift due
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* to round-off, and should not be used on a sensor such as a line tracker
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* or potentiometer.
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*
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* The value returned actually has 16 bits of "precision", even though the ADC
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* only reads 12 bits, so that error induced by the average value being between
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* two values when integrated over time is trivial. Think of the value as the
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* true value times 16.
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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 - Either the ADI port value or the smart port value is not within its
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* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
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* EADDRINUSE - The port is not configured as an analog input
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*
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* \param smart_port
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* The smart port number that the ADI Expander is in
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* \param adi_port
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* The ADI port (from 1-8, 'a'-'h', 'A'-'H') for which the value will be
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* returned
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*
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* \return The difference of the sensor value from its calibrated default from
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* -16384 to 16384
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*/
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int32_t ext_adi_analog_read_calibrated_HR(uint8_t smart_port, uint8_t adi_port);
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/**
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* Gets the digital value (1 or 0) of a port configured as a digital input.
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*
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* If the port is configured as some other mode, the digital value which
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* reflects the current state of the port is returned, which may or may not
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* differ from the currently set value. The return value is undefined for ports
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* configured as any mode other than a Digital Input.
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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 - Either the ADI port value or the smart port value is not within its
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* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
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* EADDRINUSE - The port is not configured as a digital input
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*
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* \param smart_port
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* The smart port number that the ADI Expander is in
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* \param adi_port
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* The ADI port to read (from 1-8, 'a'-'h', 'A'-'H')
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*
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* \return True if the pin is HIGH, or false if it is LOW
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*/
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int32_t ext_adi_digital_read(uint8_t smart_port, uint8_t adi_port);
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/**
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* Gets a rising-edge case for a digital button press.
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*
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* This function is not thread-safe.
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* Multiple tasks polling a single button may return different results under the
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* same circumstances, so only one task should call this function for any given
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* button. E.g., Task A calls this function for buttons 1 and 2. Task B may call
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* this function for button 3, but should not for buttons 1 or 2. A typical
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* use-case for this function is to call inside opcontrol to detect new button
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* presses, and not in any other tasks.
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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 - Either the ADI port value or the smart port value is not within its
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* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
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* EADDRINUSE - The port is not configured as a digital input
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*
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* \param smart_port
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* The smart port number that the ADI Expander is in
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* \param adi_port
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* The ADI port to read (from 1-8, 'a'-'h', 'A'-'H')
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*
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* \return 1 if the button is pressed and had not been pressed
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* the last time this function was called, 0 otherwise.
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*/
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int32_t ext_adi_digital_get_new_press(uint8_t smart_port, uint8_t adi_port);
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/**
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* Sets the digital value (1 or 0) of a port configured as a digital output.
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*
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* If the port is configured as some other mode, behavior is undefined.
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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 - Either the ADI port value or the smart port value is not within its
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* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
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* EADDRINUSE - The port is not configured as a digital output
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*
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* \param smart_port
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* The smart port number that the ADI Expander is in
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* \param adi_port
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* The ADI port number (from 1-8, 'a'-'h', 'A'-'H') to configure
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* \param value
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* An expression evaluating to "true" or "false" to set the output to
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* HIGH or LOW respectively, or the constants HIGH or LOW themselves
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*
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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int32_t ext_adi_digital_write(uint8_t smart_port, uint8_t adi_port, bool value);
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/**
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* Configures the port as an input or output with a variety of settings.
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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 - Either the ADI port value or the smart port value is not within its
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* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
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*
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* \param smart_port
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* The smart port number that the ADI Expander is in
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* \param adi_port
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* The ADI port number (from 1-8, 'a'-'h', 'A'-'H') to configure
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* \param mode
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* One of INPUT, INPUT_ANALOG, INPUT_FLOATING, OUTPUT, or OUTPUT_OD
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*
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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int32_t ext_adi_pin_mode(uint8_t smart_port, uint8_t adi_port, uint8_t mode);
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/**
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* Sets the speed of the motor on the given port.
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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 - Either the ADI port value or the smart port value is not within its
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* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
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* EADDRINUSE - The port is not configured as an motor
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*
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* \param smart_port
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* The smart port number that the ADI Expander is in
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* \param adi_port
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* The ADI port number (from 1-8, 'a'-'h', 'A'-'H') to configure
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* \param speed
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* The new signed speed; -127 is full reverse and 127 is full forward,
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* with 0 being off
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*
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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int32_t ext_adi_motor_set(uint8_t smart_port, uint8_t adi_port, int8_t speed);
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/**
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* Gets the last set speed of the motor on the given port.
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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 - Either the ADI port value or the smart port value is not within its
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* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
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* EADDRINUSE - The port is not configured as an motor
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*
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* \param smart_port
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* The smart port number that the ADI Expander is in
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* \param adi_port
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* The ADI port to get (from 1-8, 'a'-'h', 'A'-'H')
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*
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* \return The last set speed of the motor on the given port
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*/
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int32_t ext_adi_motor_get(uint8_t smart_port, uint8_t adi_port);
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/**
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* Stops the motor on the given port.
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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 - Either the ADI port value or the smart port value is not within its
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* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
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* EADDRINUSE - The port is not configured as an motor
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*
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* \param smart_port
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* The smart port number that the ADI Expander is in
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* \param adi_port
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* The ADI port to set (from 1-8, 'a'-'h', 'A'-'H')
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*
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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int32_t ext_adi_motor_stop(uint8_t smart_port, uint8_t adi_port);
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/**
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* Reference type for an initialized encoder.
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*
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* This merely contains the port number for the encoder, unlike its use as an
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* object to store encoder data in PROS 2.
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*/
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typedef int32_t ext_adi_encoder_t;
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/**
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* Gets the number of ticks recorded by the encoder.
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*
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* There are 360 ticks in one revolution.
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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 - Either the ADI port value or the smart port value is not within its
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* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
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* EADDRINUSE - The port is not configured as an encoder
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*
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* \param enc
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* The adi_encoder_t object from adi_encoder_init() to read
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*
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* \return The signed and cumulative number of counts since the last start or
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* reset
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*/
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int32_t ext_adi_encoder_get(ext_adi_encoder_t enc);
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/**
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* Creates an encoder object and configures the specified ports accordingly.
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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 - Either the ADI port value or the smart port value is not within its
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* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
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* EADDRINUSE - The port is not configured as an encoder
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*
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* \param smart_port
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* The smart port number that the ADI Expander is in
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* \param adi_port_top
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* The "top" wire from the encoder sensor with the removable cover side
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* up. This should be in port 1, 3, 5, or 7 ('A', 'C', 'E', or 'G').
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* \param adi_port_bottom
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* The "bottom" wire from the encoder sensor
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* \param reverse
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* If "true", the sensor will count in the opposite direction
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*
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* \return An adi_encoder_t object to be stored and used for later calls to
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* encoder functions
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*/
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ext_adi_encoder_t ext_adi_encoder_init(uint8_t smart_port, uint8_t adi_port_top, uint8_t adi_port_bottom, bool reverse);
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/**
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* Sets the encoder value to zero.
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*
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* It is safe to use this method while an encoder is enabled. It is not
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* necessary to call this method before stopping or starting an encoder.
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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 - Either the ADI port value or the smart port value is not within its
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* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
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* EADDRINUSE - The port is not configured as an encoder
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*
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* \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 ext_adi_encoder_reset(ext_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 - Either the ADI port value or the smart port value is not within its
|
|
* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
|
|
* 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 ext_adi_encoder_shutdown(ext_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 encoder data in PROS 2.
|
|
*/
|
|
typedef int32_t ext_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 - Either the ADI port value or the smart port value is not within its
|
|
* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
|
|
* 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 ext_adi_ultrasonic_get(ext_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 - Either the ADI port value or the smart port value is not within its
|
|
* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
|
|
* EADDRINUSE - The port is not configured as an ultrasonic
|
|
*
|
|
* \param smart_port
|
|
* The smart port number that the ADI Expander is in
|
|
* \param adi_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 adi_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
|
|
*/
|
|
ext_adi_ultrasonic_t ext_adi_ultrasonic_init(uint8_t smart_port, uint8_t adi_port_ping, uint8_t adi_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 - Either the ADI port value or the smart port value is not within its
|
|
* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
|
|
* 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 ext_adi_ultrasonic_shutdown(ext_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.
|
|
*
|
|
* (Might Be useless with the wire expander.)
|
|
*/
|
|
typedef int32_t ext_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 - Either the ADI port value or the smart port value is not within its
|
|
* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
|
|
* 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 ext_adi_gyro_get(ext_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 - Either the ADI port value or the smart port value is not within its
|
|
* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
|
|
* EADDRINUSE - The port is not configured as a gyro
|
|
*
|
|
* \param smart_port
|
|
* The smart port number that the ADI Expander is in
|
|
* \param adi_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.
|
|
*/
|
|
ext_adi_gyro_t ext_adi_gyro_init(uint8_t smart_port, uint8_t adi_port, double multiplier);
|
|
|
|
/**
|
|
* Resets the gyroscope value to zero.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - Either the ADI port value or the smart port value is not within its
|
|
* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
|
|
* 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 ext_adi_gyro_reset(ext_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 - Either the ADI port value or the smart port value is not within its
|
|
* valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
|
|
* 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 ext_adi_gyro_shutdown(ext_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 gyro data in PROS 2.
|
|
*/
|
|
typedef int32_t ext_adi_potentiometer_t;
|
|
|
|
/**
|
|
* 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 smart_port
|
|
* The smart port with the adi expander (1-21)
|
|
* \param adi_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.
|
|
*/
|
|
ext_adi_potentiometer_t ext_adi_potentiometer_init(uint8_t smart_port, uint8_t adi_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 333 degrees thus returning an angle between 0-333 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 ext_adi_potentiometer_get_angle(ext_adi_potentiometer_t potentiometer);
|
|
|
|
/**
|
|
* Reference type for an initialized addressable led, which stores its smart and adi port.
|
|
*/
|
|
typedef int32_t ext_adi_led_t;
|
|
|
|
/**
|
|
* Initializes a led 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
|
|
* EINVAL - A given value is not correct, or the buffer is null
|
|
* EADDRINUSE - The port is not configured for ADI output
|
|
*
|
|
* \param smart_port
|
|
* The smart port with the adi expander (1-21)
|
|
* \param adi_port
|
|
* The ADI port to initialize as a led (from 1-8, 'a'-'h', 'A'-'H')
|
|
*
|
|
* \return An ext_adi_led_t object containing the given port, or PROS_ERR if the
|
|
* initialization failed.
|
|
*/
|
|
ext_adi_led_t ext_adi_led_init(uint8_t smart_port, uint8_t adi_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 ext_adi_led_clear_all(ext_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 ext_adi_led_set(ext_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 ext_adi_led_set_all(ext_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 (0 indexed)
|
|
* @return PROS_SUCCESS if successful, PROS_ERR if not
|
|
*/
|
|
int32_t ext_adi_led_set_pixel(ext_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 (0 indexed)
|
|
* @return PROS_SUCCESS if successful, PROS_ERR if not
|
|
*/
|
|
int32_t ext_adi_led_clear_pixel(ext_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_
|