1141 lines
39 KiB
C++
1141 lines
39 KiB
C++
/**
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* \file pros/motors.h
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*
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* Contains prototypes for the V5 Motor-related functions.
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*
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* Visit https://pros.cs.purdue.edu/v5/tutorials/topical/motors.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_MOTORS_H_
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#define _PROS_MOTORS_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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/** Motor movement functions **/
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/** **/
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/** These functions allow programmers to make motors move **/
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/******************************************************************************/
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/**
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* Sets the voltage for the motor from -127 to 127.
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*
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* This is designed to map easily to the input from the controller's analog
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* stick for simple opcontrol use. The actual behavior of the motor is analogous
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* to use of motor_move_voltage(), or motorSet() from the PROS 2 API.
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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 a motor
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*
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* \param port
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* The V5 port number from 1-21
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* \param voltage
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* The new motor voltage from -127 to 127
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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 motor_move(uint8_t port, int32_t voltage);
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/**
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* Stops the motor using the currently configured brake mode.
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*
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* This function sets motor velocity to zero, which will cause it to act
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* according to the set brake mode. If brake mode is set to MOTOR_BRAKE_HOLD,
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* this function may behave differently than calling motor_move_absolute(port, 0)
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* or motor_move_relative(port, 0).
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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 a motor
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*
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* \param port
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* The V5 port number from 1-21
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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 motor_brake(uint8_t port);
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/**
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* Sets the target absolute position for the motor to move to.
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*
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* This movement is relative to the position of the motor when initialized or
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* the position when it was most recently reset with motor_set_zero_position().
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*
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* \note This function simply sets the target for the motor, it does not block
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* program execution until the movement finishes.
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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 a motor
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*
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* \param port
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* The V5 port number from 1-21
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* \param position
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* The absolute position to move to in the motor's encoder units
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* \param velocity
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* The maximum allowable velocity for the movement in RPM
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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 motor_move_absolute(uint8_t port, const double position, const int32_t velocity);
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/**
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* Sets the relative target position for the motor to move to.
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*
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* This movement is relative to the current position of the motor as given in
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* motor_get_position(). Providing 10.0 as the position parameter would result
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* in the motor moving clockwise 10 units, no matter what the current position
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* is.
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*
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* \note This function simply sets the target for the motor, it does not block
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* program execution until the movement finishes.
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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 a motor
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*
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* \param port
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* The V5 port number from 1-21
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* \param position
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* The relative position to move to in the motor's encoder units
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* \param velocity
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* The maximum allowable velocity for the movement in RPM
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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 motor_move_relative(uint8_t port, const double position, const int32_t velocity);
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/**
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* Sets the velocity for the motor.
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*
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* This velocity corresponds to different actual speeds depending on the gearset
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* used for the motor. This results in a range of +-100 for E_MOTOR_GEARSET_36,
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* +-200 for E_MOTOR_GEARSET_18, and +-600 for E_MOTOR_GEARSET_6. The velocity
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* is held with PID to ensure consistent speed, as opposed to setting the
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* motor's voltage.
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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 a motor
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*
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* \param port
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* The V5 port number from 1-21
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* \param velocity
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* The new motor velocity from +-100, +-200, or +-600 depending on the
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* motor's gearset
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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 motor_move_velocity(uint8_t port, const int32_t velocity);
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/**
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* Sets the output voltage for the motor from -12000 to 12000 in millivolts
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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 a motor
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*
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* \param port
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* The V5 port number from 1-21
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* \param voltage
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* The new voltage value from -12000 to 12000
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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 motor_move_voltage(uint8_t port, const int32_t voltage);
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/**
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* Changes the output velocity for a profiled movement (motor_move_absolute or
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* motor_move_relative). This will have no effect if the motor is not following
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* a profiled 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 - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as a motor
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*
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* \param port
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* The V5 port number from 1-21
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* \param velocity
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* The new motor velocity from +-100, +-200, or +-600 depending on the
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* motor's gearset
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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 motor_modify_profiled_velocity(uint8_t port, const int32_t velocity);
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/**
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* Gets the target position set for the motor by the user.
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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 a motor
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*
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* \param port
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* The V5 port number from 1-21
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*
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* \return The target position in its encoder units or PROS_ERR_F if the
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* operation failed, setting errno.
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*/
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double motor_get_target_position(uint8_t port);
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/**
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* Gets the velocity commanded to the motor by the user.
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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 a motor
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*
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* \param port
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* The V5 port number from 1-21
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*
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* \return The commanded motor velocity from +-100, +-200, or +-600, or PROS_ERR
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* if the operation failed, setting errno.
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*/
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int32_t motor_get_target_velocity(uint8_t port);
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/******************************************************************************/
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/** Motor telemetry functions **/
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/** **/
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/** These functions allow programmers to collect telemetry from motors **/
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/******************************************************************************/
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/**
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* Gets the actual velocity of the motor.
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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 a motor
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*
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* \param port
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* The V5 port number from 1-21
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*
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* \return The motor's actual velocity in RPM or PROS_ERR_F if the operation
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* failed, setting errno.
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*/
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double motor_get_actual_velocity(uint8_t port);
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/**
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* Gets the current drawn by the motor in mA.
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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 a motor
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*
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* \param port
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* The V5 port number from 1-21
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*
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* \return The motor's current in mA or PROS_ERR if the operation failed,
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* setting errno.
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*/
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int32_t motor_get_current_draw(uint8_t port);
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/**
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* Gets the direction of movement for the motor.
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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 a motor
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*
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* \param port
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* The V5 port number from 1-21
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*
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* \return 1 for moving in the positive direction, -1 for moving in the
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* negative direction, or PROS_ERR if the operation failed, setting errno.
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*/
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int32_t motor_get_direction(uint8_t port);
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/**
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* Gets the efficiency of the motor in percent.
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*
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* An efficiency of 100% means that the motor is moving electrically while
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* drawing no electrical power, and an efficiency of 0% means that the motor
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* is drawing power but not moving.
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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 a motor
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*
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* \param port
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* The V5 port number from 1-21
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*
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* \return The motor's efficiency in percent or PROS_ERR_F if the operation
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* failed, setting errno.
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*/
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double motor_get_efficiency(uint8_t port);
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/**
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* Checks if the motor is drawing over its current limit.
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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 a motor
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*
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* \param port
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* The V5 port number from 1-21
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*
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* \return 1 if the motor's current limit is being exceeded and 0 if the current
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* limit is not exceeded, or PROS_ERR if the operation failed, setting errno.
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*/
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int32_t motor_is_over_current(uint8_t port);
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/**
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* Checks if the motor's temperature is above its limit.
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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 a motor
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*
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* \param port
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* The V5 port number from 1-21
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*
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* \return 1 if the temperature limit is exceeded and 0 if the the temperature
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* is below the limit, or PROS_ERR if the operation failed, setting errno.
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*/
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int32_t motor_is_over_temp(uint8_t port);
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/**
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* Checks if the motor is stopped.
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*
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* \note Although this function forwards data from the motor, the motor
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* presently does not provide any value. This function returns PROS_ERR with
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* errno set to ENOSYS.
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*
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* \param port
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* The V5 port number from 1-21
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*
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* \return 1 if the motor is not moving, 0 if the motor is moving, or PROS_ERR
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* if the operation failed, setting errno
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*/
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int32_t motor_is_stopped(uint8_t port);
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/**
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* Checks if the motor is at its zero position.
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*
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* \note Although this function forwards data from the motor, the motor
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* presently does not provide any value. This function returns PROS_ERR with
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* errno set to ENOSYS.
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*
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* \param port
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* The V5 port number from 1-21
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*
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* \return 1 if the motor is at zero absolute position, 0 if the motor has
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* moved from its absolute zero, or PROS_ERR if the operation failed,
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* setting errno
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*/
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int32_t motor_get_zero_position_flag(uint8_t port);
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#ifdef __cplusplus
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} // namespace c
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#endif
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typedef enum motor_fault_e {
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E_MOTOR_FAULT_NO_FAULTS = 0x00,
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E_MOTOR_FAULT_MOTOR_OVER_TEMP = 0x01, // Analogous to motor_is_over_temp()
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E_MOTOR_FAULT_DRIVER_FAULT = 0x02, // Indicates a motor h-bridge fault
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E_MOTOR_FAULT_OVER_CURRENT = 0x04, // Analogous to motor_is_over_current()
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E_MOTOR_FAULT_DRV_OVER_CURRENT = 0x08 // Indicates an h-bridge over current
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} motor_fault_e_t;
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#ifdef PROS_USE_SIMPLE_NAMES
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#ifdef __cplusplus
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#define MOTOR_FAULT_NO_FAULTS pros::E_MOTOR_FAULT_NO_FAULTS
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#define MOTOR_FAULT_MOTOR_OVER_TEMP pros::E_MOTOR_FAULT_MOTOR_OVER_TEMP
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#define MOTOR_FAULT_DRIVER_FAULT pros::E_MOTOR_FAULT_DRIVER_FAULT
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#define MOTOR_FAULT_OVER_CURRENT pros::E_MOTOR_FAULT_DRV_OVER_CURRENT
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#define MOTOR_FAULT_DRV_OVER_CURRENT pros::E_MOTOR_FAULT_DRV_OVER_CURRENT
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#else
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#define MOTOR_FAULT_NO_FAULTS E_MOTOR_FAULT_NO_FAULTS
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#define MOTOR_FAULT_MOTOR_OVER_TEMP E_MOTOR_FAULT_MOTOR_OVER_TEMP
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#define MOTOR_FAULT_DRIVER_FAULT E_MOTOR_FAULT_DRIVER_FAULT
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#define MOTOR_FAULT_OVER_CURRENT E_MOTOR_FAULT_DRV_OVER_CURRENT
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#define MOTOR_FAULT_DRV_OVER_CURRENT E_MOTOR_FAULT_DRV_OVER_CURRENT
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#endif
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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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* Gets the faults experienced by the motor.
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*
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* Compare this bitfield to the bitmasks in motor_fault_e_t.
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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 a motor
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*
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* \param port
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* The V5 port number from 1-21
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*
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* \return A bitfield containing the motor's faults.
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*/
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uint32_t motor_get_faults(uint8_t port);
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#ifdef __cplusplus
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} // namespace c
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#endif
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typedef enum motor_flag_e {
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E_MOTOR_FLAGS_NONE = 0x00,
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E_MOTOR_FLAGS_BUSY = 0x01, // Cannot currently communicate to the motor
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E_MOTOR_FLAGS_ZERO_VELOCITY = 0x02, // Analogous to motor_is_stopped()
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E_MOTOR_FLAGS_ZERO_POSITION = 0x04 // Analogous to motor_get_zero_position_flag()
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} motor_flag_e_t;
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#ifdef PROS_USE_SIMPLE_NAMES
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#ifdef __cplusplus
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#define MOTOR_FLAGS_NONE pros::E_MOTOR_FLAGS_NONE
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#define MOTOR_FLAGS_BUSY pros::E_MOTOR_FLAGS_BUSY
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#define MOTOR_FLAGS_ZERO_VELOCITY pros::E_MOTOR_FLAGS_ZERO_VELOCITY
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#define MOTOR_FLAGS_ZERO_POSITION pros::E_MOTOR_FLAGS_ZERO_POSITION
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#else
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#define MOTOR_FLAGS_NONE E_MOTOR_FLAGS_NONE
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#define MOTOR_FLAGS_BUSY E_MOTOR_FLAGS_BUSY
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#define MOTOR_FLAGS_ZERO_VELOCITY E_MOTOR_FLAGS_ZERO_VELOCITY
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#define MOTOR_FLAGS_ZERO_POSITION E_MOTOR_FLAGS_ZERO_POSITION
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#endif
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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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* Gets the flags set by the motor's operation.
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*
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* Compare this bitfield to the bitmasks in motor_flag_e_t.
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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 a motor
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*
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* \param port
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* The V5 port number from 1-21
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*
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* \return A bitfield containing the motor's flags.
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*/
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uint32_t motor_get_flags(uint8_t port);
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|
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/**
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* Gets the raw encoder count of the motor at a given timestamp.
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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 a motor
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*
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* \param port
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* The V5 port number from 1-21
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* \param[in] timestamp
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* A pointer to a time in milliseconds for which the encoder count
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* will be returned. If NULL, the timestamp at which the encoder
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* count was read will not be supplied
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*
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* \return The raw encoder count at the given timestamp or PROS_ERR if the
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* operation failed.
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*/
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int32_t motor_get_raw_position(uint8_t port, uint32_t* const timestamp);
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|
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/**
|
|
* Gets the absolute position of the motor in its encoder units.
|
|
*
|
|
* This function uses the following values of errno when an error state is
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* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
*
|
|
* \return The motor's absolute position in its encoder units or PROS_ERR_F
|
|
* if the operation failed, setting errno.
|
|
*/
|
|
double motor_get_position(uint8_t port);
|
|
|
|
/**
|
|
* Gets the power drawn by the motor in Watts.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
*
|
|
* \return The motor's power draw in Watts or PROS_ERR_F if the operation
|
|
* failed, setting errno.
|
|
*/
|
|
double motor_get_power(uint8_t port);
|
|
|
|
/**
|
|
* Gets the temperature of the motor in degrees Celsius.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
*
|
|
* \return The motor's temperature in degrees Celsius or PROS_ERR_F if the
|
|
* operation failed, setting errno.
|
|
*/
|
|
double motor_get_temperature(uint8_t port);
|
|
|
|
/**
|
|
* Gets the torque generated by the motor in Newton Meters (Nm).
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
*
|
|
* \return The motor's torque in Nm or PROS_ERR_F if the operation failed,
|
|
* setting errno.
|
|
*/
|
|
double motor_get_torque(uint8_t port);
|
|
|
|
/**
|
|
* Gets the voltage delivered to the motor in millivolts.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
*
|
|
* \return The motor's voltage in mV or PROS_ERR_F if the operation failed,
|
|
* setting errno.
|
|
*/
|
|
int32_t motor_get_voltage(uint8_t port);
|
|
|
|
/******************************************************************************/
|
|
/** Motor configuration functions **/
|
|
/** **/
|
|
/** These functions allow programmers to configure the behavior of motors **/
|
|
/******************************************************************************/
|
|
|
|
#ifdef __cplusplus
|
|
} // namespace c
|
|
#endif
|
|
|
|
/**
|
|
* Indicates the current 'brake mode' of a motor.
|
|
*/
|
|
typedef enum motor_brake_mode_e {
|
|
E_MOTOR_BRAKE_COAST = 0, // Motor coasts when stopped, traditional behavior
|
|
E_MOTOR_BRAKE_BRAKE = 1, // Motor brakes when stopped
|
|
E_MOTOR_BRAKE_HOLD = 2, // Motor actively holds position when stopped
|
|
E_MOTOR_BRAKE_INVALID = INT32_MAX
|
|
} motor_brake_mode_e_t;
|
|
|
|
/**
|
|
* Indicates the units used by the motor encoders.
|
|
*/
|
|
typedef enum motor_encoder_units_e {
|
|
E_MOTOR_ENCODER_DEGREES = 0, // Position is recorded as angle in degrees
|
|
// as a floating point number
|
|
E_MOTOR_ENCODER_ROTATIONS = 1, // Position is recorded as angle in rotations
|
|
// as a floating point number
|
|
E_MOTOR_ENCODER_COUNTS = 2, // Position is recorded as raw encoder ticks
|
|
// as a whole number
|
|
E_MOTOR_ENCODER_INVALID = INT32_MAX
|
|
} motor_encoder_units_e_t;
|
|
|
|
/**
|
|
* Indicates the current internal gear ratio of a motor.
|
|
*/
|
|
typedef enum motor_gearset_e {
|
|
E_MOTOR_GEARSET_36 = 0, // 36:1, 100 RPM, Red gear set
|
|
E_MOTOR_GEAR_RED = E_MOTOR_GEARSET_36,
|
|
E_MOTOR_GEAR_100 = E_MOTOR_GEARSET_36,
|
|
E_MOTOR_GEARSET_18 = 1, // 18:1, 200 RPM, Green gear set
|
|
E_MOTOR_GEAR_GREEN = E_MOTOR_GEARSET_18,
|
|
E_MOTOR_GEAR_200 = E_MOTOR_GEARSET_18,
|
|
E_MOTOR_GEARSET_06 = 2, // 6:1, 600 RPM, Blue gear set
|
|
E_MOTOR_GEAR_BLUE = E_MOTOR_GEARSET_06,
|
|
E_MOTOR_GEAR_600 = E_MOTOR_GEARSET_06,
|
|
E_MOTOR_GEARSET_INVALID = INT32_MAX
|
|
} motor_gearset_e_t;
|
|
|
|
#ifdef PROS_USE_SIMPLE_NAMES
|
|
#ifdef __cplusplus
|
|
#define MOTOR_BRAKE_COAST pros::E_MOTOR_BRAKE_COAST
|
|
#define MOTOR_BRAKE_BRAKE pros::E_MOTOR_BRAKE_BRAKE
|
|
#define MOTOR_BRAKE_HOLD pros::E_MOTOR_BRAKE_HOLD
|
|
#define MOTOR_BRAKE_INVALID pros::E_MOTOR_BRAKE_INVALID
|
|
#define MOTOR_ENCODER_DEGREES pros::E_MOTOR_ENCODER_DEGREES
|
|
#define MOTOR_ENCODER_ROTATIONS pros::E_MOTOR_ENCODER_ROTATIONS
|
|
#define MOTOR_ENCODER_COUNTS pros::E_MOTOR_ENCODER_COUNTS
|
|
#define MOTOR_ENCODER_INVALID pros::E_MOTOR_ENCODER_INVALID
|
|
#define MOTOR_GEARSET_36 pros::E_MOTOR_GEARSET_36
|
|
#define MOTOR_GEAR_RED pros::E_MOTOR_GEAR_RED
|
|
#define MOTOR_GEAR_100 pros::E_MOTOR_GEAR_100
|
|
#define MOTOR_GEARSET_18 pros::E_MOTOR_GEARSET_18
|
|
#define MOTOR_GEAR_GREEN pros::E_MOTOR_GEAR_GREEN
|
|
#define MOTOR_GEAR_200 pros::E_MOTOR_GEAR_200
|
|
#define MOTOR_GEARSET_06 pros::E_MOTOR_GEARSET_06
|
|
#define MOTOR_GEARSET_6 pros::E_MOTOR_GEARSET_06
|
|
#define MOTOR_GEAR_BLUE pros::E_MOTOR_GEAR_BLUE
|
|
#define MOTOR_GEAR_600 pros::E_MOTOR_GEAR_600
|
|
#define MOTOR_GEARSET_INVALID pros::E_MOTOR_GEARSET_INVALID
|
|
#else
|
|
#define MOTOR_BRAKE_COAST E_MOTOR_BRAKE_COAST
|
|
#define MOTOR_BRAKE_BRAKE E_MOTOR_BRAKE_BRAKE
|
|
#define MOTOR_BRAKE_HOLD E_MOTOR_BRAKE_HOLD
|
|
#define MOTOR_BRAKE_INVALID E_MOTOR_BRAKE_INVALID
|
|
#define MOTOR_ENCODER_DEGREES E_MOTOR_ENCODER_DEGREES
|
|
#define MOTOR_ENCODER_ROTATIONS E_MOTOR_ENCODER_ROTATIONS
|
|
#define MOTOR_ENCODER_COUNTS E_MOTOR_ENCODER_COUNTS
|
|
#define MOTOR_ENCODER_INVALID E_MOTOR_ENCODER_INVALID
|
|
#define MOTOR_GEARSET_36 E_MOTOR_GEARSET_36
|
|
#define MOTOR_GEAR_RED E_MOTOR_GEAR_RED
|
|
#define MOTOR_GEAR_100 E_MOTOR_GEAR_100
|
|
#define MOTOR_GEARSET_18 E_MOTOR_GEARSET_18
|
|
#define MOTOR_GEAR_GREEN E_MOTOR_GEAR_GREEN
|
|
#define MOTOR_GEAR_200 E_MOTOR_GEAR_200
|
|
#define MOTOR_GEARSET_06 E_MOTOR_GEARSET_06
|
|
#define MOTOR_GEARSET_6 E_MOTOR_GEARSET_06
|
|
#define MOTOR_GEAR_BLUE E_MOTOR_GEAR_BLUE
|
|
#define MOTOR_GEAR_600 E_MOTOR_GEAR_600
|
|
#define MOTOR_GEARSET_INVALID E_MOTOR_GEARSET_INVALID
|
|
#endif
|
|
#endif
|
|
|
|
/**
|
|
* Holds the information about a Motor's position or velocity PID controls.
|
|
*
|
|
* These values are in 4.4 format, meaning that a value of 0x20 represents 2.0,
|
|
* 0x21 represents 2.0625, 0x22 represents 2.125, etc.
|
|
*/
|
|
typedef struct motor_pid_full_s {
|
|
uint8_t kf; // The feedforward constant
|
|
uint8_t kp; // The proportional constant
|
|
uint8_t ki; // The integral constants
|
|
uint8_t kd; // The derivative constant
|
|
uint8_t filter; // A constant used for filtering the profile acceleration
|
|
uint16_t limit; // The integral limit
|
|
uint8_t threshold; // The threshold for determining if a position movement has
|
|
// reached its goal. This has no effect for velocity PID
|
|
// calculations.
|
|
uint8_t loopspeed; // The rate at which the PID computation is run in ms
|
|
} motor_pid_full_s_t;
|
|
|
|
/**
|
|
* Holds just the constants for a Motor's position or velocity PID controls.
|
|
*
|
|
* These values are in 4.4 format, meaning that a value of 0x20 represents 2.0,
|
|
* 0x21 represents 2.0625, 0x22 represents 2.125, etc.
|
|
*/
|
|
typedef struct motor_pid_s {
|
|
uint8_t kf; // The feedforward constant
|
|
uint8_t kp; // The proportional constant
|
|
uint8_t ki; // The integral constants
|
|
uint8_t kd; // The derivative constant
|
|
} motor_pid_s_t;
|
|
|
|
#ifdef __cplusplus
|
|
namespace c {
|
|
#endif
|
|
|
|
/**
|
|
* Sets the position for the motor in its encoder units.
|
|
*
|
|
* This will be the future reference point for the motor's "absolute" position.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
* \param position
|
|
* The new reference position in its encoder units
|
|
*
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*/
|
|
int32_t motor_set_zero_position(uint8_t port, const double position);
|
|
|
|
/**
|
|
* Sets the "absolute" zero position of the motor to its current position.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
*
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*/
|
|
int32_t motor_tare_position(uint8_t port);
|
|
|
|
/**
|
|
* Sets one of motor_brake_mode_e_t to the motor.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
* \param mode
|
|
* The motor_brake_mode_e_t to set for the motor
|
|
*
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*/
|
|
int32_t motor_set_brake_mode(uint8_t port, const motor_brake_mode_e_t mode);
|
|
|
|
/**
|
|
* Sets the current limit for the motor in mA.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
* \param limit
|
|
* The new current limit in mA
|
|
*
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*/
|
|
int32_t motor_set_current_limit(uint8_t port, const int32_t limit);
|
|
|
|
/**
|
|
* Sets one of motor_encoder_units_e_t for the motor 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 V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
* \param units
|
|
* The new motor encoder units
|
|
*
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*/
|
|
int32_t motor_set_encoder_units(uint8_t port, const motor_encoder_units_e_t units);
|
|
|
|
/**
|
|
* Sets one of motor_gearset_e_t for the motor.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
* \param gearset
|
|
* The new motor gearset
|
|
*
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*/
|
|
int32_t motor_set_gearing(uint8_t port, const motor_gearset_e_t gearset);
|
|
|
|
/**
|
|
* Takes in floating point values and returns a properly formatted pid struct.
|
|
* The motor_pid_s_t struct is in 4.4 format, i.e. 0x20 is 2.0, 0x21 is 2.0625,
|
|
* etc.
|
|
* This function will convert the floating point values to the nearest 4.4
|
|
* value.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param kf
|
|
* The feedforward constant
|
|
* \param kp
|
|
* The proportional constant
|
|
* \param ki
|
|
* The integral constant
|
|
* \param kd
|
|
* The derivative constant
|
|
*
|
|
* \return A motor_pid_s_t struct formatted properly in 4.4.
|
|
*/
|
|
motor_pid_s_t __attribute__((deprecated("Changing these values is not supported by VEX and may lead to permanent motor damage."))) motor_convert_pid(double kf, double kp, double ki, double kd);
|
|
|
|
/**
|
|
* Takes in floating point values and returns a properly formatted pid struct.
|
|
* The motor_pid_s_t struct is in 4.4 format, i.e. 0x20 is 2.0, 0x21 is 2.0625,
|
|
* etc.
|
|
* This function will convert the floating point values to the nearest 4.4
|
|
* value.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param kf
|
|
* The feedforward constant
|
|
* \param kp
|
|
* The proportional constant
|
|
* \param ki
|
|
* The integral constant
|
|
* \param kd
|
|
* The derivative constant
|
|
* \param filter
|
|
* A constant used for filtering the profile acceleration
|
|
* \param limit
|
|
* The integral limit
|
|
* \param threshold
|
|
* The threshold for determining if a position movement has reached its
|
|
* goal. This has no effect for velocity PID calculations.
|
|
* \param loopspeed
|
|
* The rate at which the PID computation is run in ms
|
|
*
|
|
* \return A motor_pid_s_t struct formatted properly in 4.4.
|
|
*/
|
|
motor_pid_full_s_t __attribute__((deprecated("Changing these values is not supported by VEX and may lead to permanent motor damage."))) motor_convert_pid_full(double kf, double kp, double ki, double kd, double filter, double limit,
|
|
double threshold, double loopspeed);
|
|
|
|
/**
|
|
* Sets one of motor_pid_s_t for the motor. This intended to just modify the
|
|
* main PID constants.
|
|
*
|
|
* Only non-zero values of the struct will change the existing motor constants.
|
|
*
|
|
* \note This feature is in beta, it is advised to use caution when modifying
|
|
* the PID values. The motor could be damaged by particularly large constants.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
* \param pid
|
|
* The new motor PID constants
|
|
*
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*/
|
|
int32_t __attribute__((deprecated("Changing these values is not supported by VEX and may lead to permanent motor damage."))) motor_set_pos_pid(uint8_t port, const motor_pid_s_t pid);
|
|
|
|
/**
|
|
* Sets one of motor_pid_full_s_t for the motor.
|
|
*
|
|
* Only non-zero values of the struct will change the existing motor constants.
|
|
*
|
|
* \note This feature is in beta, it is advised to use caution when modifying
|
|
* the PID values. The motor could be damaged by particularly large constants.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
* \param pid
|
|
* The new motor PID constants
|
|
*
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*/
|
|
int32_t __attribute__((deprecated("Changing these values is not supported by VEX and may lead to permanent motor damage."))) motor_set_pos_pid_full(uint8_t port, const motor_pid_full_s_t pid);
|
|
|
|
/**
|
|
* Sets one of motor_pid_s_t for the motor. This intended to just modify the
|
|
* main PID constants.
|
|
*
|
|
* Only non-zero values of the struct will change the existing motor constants.
|
|
*
|
|
* \note This feature is in beta, it is advised to use caution when modifying
|
|
* the PID values. The motor could be damaged by particularly large constants.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
* \param pid
|
|
* The new motor PID constants
|
|
*
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*/
|
|
int32_t __attribute__((deprecated("Changing these values is not supported by VEX and may lead to permanent motor damage."))) motor_set_vel_pid(uint8_t port, const motor_pid_s_t pid);
|
|
|
|
/**
|
|
* Sets one of motor_pid_full_s_t for the motor.
|
|
*
|
|
* Only non-zero values of the struct will change the existing motor constants.
|
|
*
|
|
* \note This feature is in beta, it is advised to use caution when modifying
|
|
* the PID values. The motor could be damaged by particularly large constants.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
* \param pid
|
|
* The new motor PID constants
|
|
*
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*/
|
|
int32_t __attribute__((deprecated("Changing these values is not supported by VEX and may lead to permanent motor damage."))) motor_set_vel_pid_full(uint8_t port, const motor_pid_full_s_t pid);
|
|
|
|
/**
|
|
* Sets the reverse flag for the motor.
|
|
*
|
|
* This will invert its movements and the values returned for its position.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
* \param reverse
|
|
* True reverses the motor, false is default
|
|
*
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*/
|
|
int32_t motor_set_reversed(uint8_t port, const bool reverse);
|
|
|
|
/**
|
|
* Sets the voltage limit for the motor in Volts.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
* \param limit
|
|
* The new voltage limit in Volts
|
|
*
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*/
|
|
int32_t motor_set_voltage_limit(uint8_t port, const int32_t limit);
|
|
|
|
/**
|
|
* Gets the brake mode that was set for the motor.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
*
|
|
* \return One of motor_brake_mode_e_t, according to what was set for the motor,
|
|
* or E_MOTOR_BRAKE_INVALID if the operation failed, setting errno.
|
|
*/
|
|
motor_brake_mode_e_t motor_get_brake_mode(uint8_t port);
|
|
|
|
/**
|
|
* Gets the current limit for the motor in mA.
|
|
*
|
|
* The default value is 2500 mA.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
*
|
|
* \return The motor's current limit in mA or PROS_ERR if the operation failed,
|
|
* setting errno.
|
|
*/
|
|
int32_t motor_get_current_limit(uint8_t port);
|
|
|
|
/**
|
|
* Gets the encoder units that were set for the motor.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
*
|
|
* \return One of motor_encoder_units_e_t according to what is set for the motor
|
|
* or E_MOTOR_ENCODER_INVALID if the operation failed.
|
|
*/
|
|
motor_encoder_units_e_t motor_get_encoder_units(uint8_t port);
|
|
|
|
/**
|
|
* Gets the gearset that was set for the motor.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
*
|
|
* \return One of motor_gearset_e_t according to what is set for the motor,
|
|
* or E_GEARSET_INVALID if the operation failed.
|
|
*/
|
|
motor_gearset_e_t motor_get_gearing(uint8_t port);
|
|
|
|
/**
|
|
* Gets the position PID that was set for the motor. This function will return
|
|
* zero for all of the parameters if the motor_set_pos_pid() or
|
|
* motor_set_pos_pid_full() functions have not been used.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* Additionally, in an error state all values of the returned struct are set
|
|
* to their negative maximum values.
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
*
|
|
* \return A motor_pid_full_s_t containing the position PID constants last set
|
|
* to the given motor
|
|
*/
|
|
motor_pid_full_s_t __attribute__((deprecated("Changing these values is not supported by VEX and may lead to permanent motor damage."))) motor_get_pos_pid(uint8_t port);
|
|
|
|
/**
|
|
* Gets the velocity PID that was set for the motor. This function will return
|
|
* zero for all of the parameters if the motor_set_vel_pid() or
|
|
* motor_set_vel_pid_full() functions have not been used.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* Additionally, in an error state all values of the returned struct are set
|
|
* to their negative maximum values.
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
*
|
|
* \return A motor_pid_full_s_t containing the velocity PID constants last set
|
|
* to the given motor
|
|
*/
|
|
motor_pid_full_s_t __attribute__((deprecated("Changing these values is not supported by VEX and may lead to permanent motor damage."))) motor_get_vel_pid(uint8_t port);
|
|
|
|
/**
|
|
* Gets the operation direction of the motor as set by the user.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
*
|
|
* \return 1 if the motor has been reversed and 0 if the motor was not reversed,
|
|
* or PROS_ERR if the operation failed, setting errno.
|
|
*/
|
|
int32_t motor_is_reversed(uint8_t port);
|
|
|
|
/**
|
|
* Gets the voltage limit set by the user.
|
|
*
|
|
* Default value is 0V, which means that there is no software limitation imposed
|
|
* on the voltage.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as a motor
|
|
*
|
|
* \param port
|
|
* The V5 port number from 1-21
|
|
*
|
|
* \return The motor's voltage limit in V or PROS_ERR if the operation failed,
|
|
* setting errno.
|
|
*/
|
|
int32_t motor_get_voltage_limit(uint8_t port);
|
|
|
|
#ifdef __cplusplus
|
|
} // namespace c
|
|
} // namespace pros
|
|
}
|
|
#endif
|
|
|
|
#endif // _PROS_MOTORS_H_
|