Initial commit - test serial
This commit is contained in:
Cole A. Deck
109
SerialTest/include/okapi/impl/device/rotarysensor/IMU.hpp
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109
SerialTest/include/okapi/impl/device/rotarysensor/IMU.hpp
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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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#pragma once
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#include "api.h"
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#include "okapi/api/control/controllerInput.hpp"
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#include "okapi/api/device/rotarysensor/continuousRotarySensor.hpp"
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namespace okapi {
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enum class IMUAxes {
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z, ///< Yaw Axis
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y, ///< Pitch Axis
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x ///< Roll Axis
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};
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class IMU : public ContinuousRotarySensor {
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public:
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/**
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* An inertial sensor on the given port. The IMU returns an angle about the selected axis in
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* degrees.
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*
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* ```cpp
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* auto imuZ = IMU(1);
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* auto imuX = IMU(1, IMUAxes::x);
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* ```
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*
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* @param iport The port number in the range ``[1, 21]``.
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* @param iaxis The axis of the inertial sensor to measure, default `IMUAxes::z`.
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*/
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IMU(std::uint8_t iport, IMUAxes iaxis = IMUAxes::z);
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/**
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* Get the current rotation about the configured axis.
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*
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* @return The current sensor value or ``PROS_ERR``.
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*/
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double get() const override;
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/**
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* Get the current sensor value remapped into the target range (``[-1800, 1800]`` by default).
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*
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* @param iupperBound The upper bound of the range.
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* @param ilowerBound The lower bound of the range.
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* @return The remapped sensor value.
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*/
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double getRemapped(double iupperBound = 1800, double ilowerBound = -1800) const;
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/**
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* Get the current acceleration along the configured axis.
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*
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* @return The current sensor value or ``PROS_ERR``.
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*/
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double getAcceleration() const;
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/**
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* Reset the rotation value to zero.
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*
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* @return ``1`` or ``PROS_ERR``.
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*/
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std::int32_t reset() override;
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/**
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* Resets rotation value to desired value
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* For example, ``reset(0)`` will reset the sensor to zero.
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* But ``reset(90)`` will reset the sensor to 90 degrees.
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*
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* @param inewAngle desired reset value
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* @return ``1`` or ``PROS_ERR``.
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*/
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std::int32_t reset(double inewAngle);
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/**
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* Calibrate the IMU. Resets the rotation value to zero. Calibration is expected to take two
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* seconds, but is bounded to five seconds.
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*
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* @return ``1`` or ``PROS_ERR``.
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*/
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std::int32_t calibrate();
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/**
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* Get the sensor value for use in a control loop. This method might be automatically called in
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* another thread by the controller.
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*
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* @return The current sensor value or ``PROS_ERR``.
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*/
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double controllerGet() override;
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/**
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* @return Whether the IMU is calibrating.
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*/
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bool isCalibrating() const;
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protected:
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std::uint8_t port;
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IMUAxes axis;
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double offset = 0;
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/**
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* Get the current rotation about the configured axis. The internal offset is not accounted for
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* or modified. This just reads from the sensor.
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*
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* @return The current sensor value or ``PROS_ERR``.
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*/
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double readAngle() const;
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};
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} // namespace okapi
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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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#pragma once
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#include "api.h"
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#include "okapi/api/device/rotarysensor/continuousRotarySensor.hpp"
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namespace okapi {
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class ADIEncoder : public ContinuousRotarySensor {
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public:
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/**
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* An encoder in an ADI port.
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*
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* ```cpp
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* auto enc = ADIEncoder('A', 'B', false);
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* auto reversedEnc = ADIEncoder('A', 'B', true);
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* ```
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*
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* @param iportTop The "top" wire from the encoder with the removable cover side up. This must be
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* in port ``1``, ``3``, ``5``, or ``7`` (``A``, ``C``, ``E``, or ``G``).
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* @param iportBottom The "bottom" wire from the encoder. This must be in port ``2``, ``4``,
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* ``6``, or ``8`` (``B``, ``D``, ``F``, or ``H``).
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* @param ireversed Whether the encoder is reversed.
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*/
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ADIEncoder(std::uint8_t iportTop, std::uint8_t iportBottom, bool ireversed = false);
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/**
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* An encoder in an ADI port.
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*
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* ```cpp
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* auto enc = ADIEncoder({1, 'A', 'B'}, false);
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* auto reversedEnc = ADIEncoder({1, 'A', 'B'}, true);
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* ```
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*
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* @param iports The ports the encoder is plugged in to in the order ``{smart port, top port,
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* bottom port}``. The smart port is the smart port number (``[1, 21]``). The top port is the
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* "top" wire from the encoder with the removable cover side up. This must be in port ``1``,
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* ``3``, ``5``, or
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* ``7`` (``A``, ``C``, ``E``, or ``G``). The bottom port is the "bottom" wire from the encoder.
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* This must be in port ``2``, ``4``, ``6``, or ``8`` (``B``, ``D``, ``F``, or ``H``).
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* @param ireversed Whether the encoder is reversed.
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*/
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ADIEncoder(std::tuple<std::uint8_t, std::uint8_t, std::uint8_t> iports, bool ireversed = false);
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/**
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* Get the current sensor value.
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*
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* @return the current sensor value, or `PROS_ERR` on a failure.
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*/
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virtual double get() const override;
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/**
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* Reset the sensor to zero.
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*
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* @return `1` on success, `PROS_ERR` on fail
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*/
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virtual std::int32_t reset() override;
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/**
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* Get the sensor value for use in a control loop. This method might be automatically called in
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* another thread by the controller.
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*
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* @return the current sensor value, or `PROS_ERR` on a failure.
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*/
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virtual double controllerGet() override;
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protected:
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pros::c::ext_adi_encoder_t enc;
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};
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} // namespace okapi
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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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#pragma once
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#include "api.h"
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#include "okapi/api/control/controllerInput.hpp"
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#include "okapi/api/device/rotarysensor/continuousRotarySensor.hpp"
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namespace okapi {
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class ADIGyro : public ContinuousRotarySensor {
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public:
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/**
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* A gyroscope on the given ADI port. If the port has not previously been configured as a gyro,
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* then the constructor will block for 1 second for calibration. The gyro measures in tenths of a
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* degree, so there are ``3600`` measurement points per revolution.
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*
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* ```cpp
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* auto gyro = ADIGyro('A');
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* ```
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*
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* @param iport The ADI port number (``[1, 8]``, ``[a, h]``, ``[A, H]``).
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* @param imultiplier A value multiplied by the gyro heading value.
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*/
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ADIGyro(std::uint8_t iport, double imultiplier = 1);
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/**
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* A gyroscope on the given ADI port. If the port has not previously been configured as a gyro,
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* then the constructor will block for 1 second for calibration. The gyro measures in tenths of a
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* degree, so there are 3600 measurement points per revolution.
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*
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* ```cpp
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* auto gyro = ADIGyro({1, 'A'}, 1);
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* ```
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*
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* Note to developers: Keep the default value on imultiplier so that users get an error if they do
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* ADIGyro({1, 'A'}). Without it, this calls the non-ext-adi constructor.
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*
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* @param iports The ports the gyro is plugged in to in the order ``{smart port, gyro port}``. The
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* smart port is the smart port number (``[1, 21]``). The gyro port is the ADI port number (``[1,
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* 8]``, ``[a, h]``, ``[A, H]``).
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* @param imultiplier A value multiplied by the gyro heading value.
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*/
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ADIGyro(std::pair<std::uint8_t, std::uint8_t> iports, double imultiplier = 1);
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/**
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* Get the current sensor value.
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*
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* @return the current sensor value, or ``PROS_ERR`` on a failure.
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*/
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double get() const override;
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/**
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* Get the current sensor value remapped into the target range (``[-1800, 1800]`` by default).
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*
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* @param iupperBound the upper bound of the range.
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* @param ilowerBound the lower bound of the range.
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* @return the remapped sensor value.
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*/
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double getRemapped(double iupperBound = 1800, double ilowerBound = -1800) const;
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/**
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* Reset the sensor to zero.
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*
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* @return `1` on success, `PROS_ERR` on fail
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*/
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std::int32_t reset() override;
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/**
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* Get the sensor value for use in a control loop. This method might be automatically called in
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* another thread by the controller.
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*
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* @return the current sensor value, or ``PROS_ERR`` on a failure.
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*/
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double controllerGet() override;
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protected:
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pros::c::ext_adi_gyro_t gyro;
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};
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} // namespace okapi
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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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#pragma once
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#include "api.h"
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#include "okapi/api/device/rotarysensor/continuousRotarySensor.hpp"
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#include "okapi/impl/device/motor/motor.hpp"
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namespace okapi {
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class IntegratedEncoder : public ContinuousRotarySensor {
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public:
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/**
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* Integrated motor encoder. Uses the encoder inside the V5 motor.
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*
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* @param imotor The motor to use the encoder from.
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*/
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IntegratedEncoder(const okapi::Motor &imotor);
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/**
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* Integrated motor encoder. Uses the encoder inside the V5 motor.
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*
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* @param iport The motor's port number in the range [1, 21].
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* @param ireversed Whether the encoder is reversed.
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*/
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IntegratedEncoder(std::int8_t iport, bool ireversed = false);
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/**
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* Get the current sensor value.
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*
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* @return the current sensor value, or ``PROS_ERR`` on a failure.
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*/
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virtual double get() const override;
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/**
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* Reset the sensor to zero.
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*
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* @return `1` on success, `PROS_ERR` on fail
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*/
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virtual std::int32_t reset() override;
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/**
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* Get the sensor value for use in a control loop. This method might be automatically called in
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* another thread by the controller.
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*
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* @return the current sensor value, or ``PROS_ERR`` on a failure.
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*/
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virtual double controllerGet() override;
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protected:
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std::uint8_t port;
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std::int8_t reversed{1};
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};
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} // namespace okapi
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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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#pragma once
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#include "api.h"
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#include "okapi/api/device/rotarysensor/rotarySensor.hpp"
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namespace okapi {
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class Potentiometer : public RotarySensor {
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public:
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/**
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* A potentiometer in an ADI port.
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*
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* ```cpp
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* auto pot = Potentiometer('A');
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* ```
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*
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* @param iport The ADI port number (``[1, 8]``, ``[a, h]``, ``[A, H]``).
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*/
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Potentiometer(std::uint8_t iport);
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/**
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* A potentiometer in an ADI port.
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*
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* ```cpp
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* auto pot = Potentiometer({1, 'A'});
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* ```
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*
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* @param iports The ports the potentiometer is plugged in to in the order ``{smart port,
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* potentiometer port}``. The smart port is the smart port number (``[1, 21]``). The potentiometer
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* port is the ADI port number (``[1, 8]``, ``[a, h]``, ``[A, H]``).
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*/
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Potentiometer(std::pair<std::uint8_t, std::uint8_t> iports);
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/**
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* Get the current sensor value.
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*
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* @return the current sensor value, or ``PROS_ERR`` on a failure.
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*/
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virtual double get() const override;
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/**
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* Get the sensor value for use in a control loop. This method might be automatically called in
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* another thread by the controller.
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*
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* @return the current sensor value, or ``PROS_ERR`` on a failure.
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*/
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virtual double controllerGet() override;
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protected:
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std::uint8_t smartPort;
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std::uint8_t port;
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};
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} // namespace okapi
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@ -0,0 +1,64 @@
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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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#pragma once
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#include "api.h"
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#include "okapi/api/device/rotarysensor/continuousRotarySensor.hpp"
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namespace okapi {
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class RotationSensor : public ContinuousRotarySensor {
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public:
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/**
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* A rotation sensor in a V5 port.
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*
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* ```cpp
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* auto r = RotationSensor(1);
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* auto reversedR = RotationSensor(1, true);
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* ```
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*
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* @param iport The V5 port the device uses.
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* @param ireversed Whether the sensor is reversed. This will set the reversed state in the
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* kernel.
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*/
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RotationSensor(std::uint8_t iport, bool ireversed = false);
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/**
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* Get the current rotation in degrees.
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*
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* @return The current rotation in degrees or ``PROS_ERR_F`` if the operation failed, setting
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* ``errno``.
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*/
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double get() const override;
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/**
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* Reset the sensor to zero.
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*
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* @return ``1`` if the operation was successful or ``PROS_ERR`` if the operation failed, setting
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* ``errno``.
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*/
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std::int32_t reset() override;
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/**
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* Get the sensor value for use in a control loop. This method might be automatically called in
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* another thread by the controller.
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*
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* @return The same as [get](@ref okapi::RotationSensor::get).
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*/
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double controllerGet() override;
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/**
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* Get the current rotational velocity estimate in degrees per second.
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*
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* @return The current rotational velocity estimate in degrees per second or ``PROS_ERR_F`` if the
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* operation failed, setting ``errno``.
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*/
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double getVelocity() const;
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protected:
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std::uint8_t port;
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std::int8_t reversed{1};
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};
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} // namespace okapi
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