🔖Release 3.7.0

🔖Release 3.7.0

azure-pipelines.yml

@@ -1,9 +1,8 @@
 jobs:
 - job: BuildTemplate
   variables:
-    toolchain_update_short: 8-2019q3
-    toolchain_update: 8-2019-q3
-    toolchain: https://developer.arm.com/-/media/Files/downloads/gnu-rm/$(toolchain_update_short)/RC1.1/gcc-arm-none-eabi-$(toolchain_update)-update-linux.tar.bz2
+    toolchain_update: 10.3-2021.10
+    toolchain: https://developer.arm.com/-/media/Files/downloads/gnu-rm/$(toolchain_update)/gcc-arm-none-eabi-$(toolchain_update)-x86_64-linux.tar.bz2
   pool:
     vmImage: 'ubuntu-latest'
   steps:
@@ -16,7 +15,7 @@ jobs:
   - bash: |
       curl -LSso toolchain.tar.bz2 $(toolchain)
       tar -xjvf toolchain.tar.bz2
-      echo "##vso[task.prependpath]$(pwd)/gcc-arm-none-eabi-$(toolchain_update)-update/bin"
+      echo "##vso[task.prependpath]$(pwd)/gcc-arm-none-eabi-$(toolchain_update)/bin"
     displayName: Install gcc-arm-embedded
   - task: UsePythonVersion@0
     inputs:
@@ -27,7 +26,7 @@ jobs:
       artifactFeeds: 'pros-cli'
       # use official PyPi registry first and fall back to internal feed as needed
       onlyAddExtraIndex: true
-  - bash: pip install pros-cli==3.2.3
+  - bash: pip install pros-cli
     displayName: Install CLI
   - bash: |
       make template

include/api.h

@@ -40,16 +40,14 @@
 #endif /* __cplusplus */
 
 #define PROS_VERSION_MAJOR 3
-#define PROS_VERSION_MINOR 6
-#define PROS_VERSION_PATCH 2
-#define PROS_VERSION_STRING "3.6.2"
-
-#define PROS_ERR (INT32_MAX)
-#define PROS_ERR_F (INFINITY)
+#define PROS_VERSION_MINOR 7
+#define PROS_VERSION_PATCH 0
+#define PROS_VERSION_STRING "3.7.0"
 
 #include "pros/adi.h"
 #include "pros/colors.h"
 #include "pros/distance.h"
+#include "pros/error.h"
 #include "pros/ext_adi.h"
 #include "pros/gps.h"
 #include "pros/imu.h"

include/pros/colors.h

@@ -18,7 +18,7 @@
 
 #define RGB2COLOR(R, G, B) ((R & 0xff) << 16 | (G & 0xff) << 8 | (B & 0xff))
 #define COLOR2R(COLOR) ((COLOR >> 16) & 0xff)
-#define COLOR2G(COLOR) ((COLOR >> 8) && 0xff)
+#define COLOR2G(COLOR) ((COLOR >> 8) & 0xff)
 #define COLOR2B(COLOR) (COLOR & 0xff)
 
 #define COLOR_ALICE_BLUE 0x00F0F8FF

include/pros/error.h

@@ -0,0 +1,29 @@
+/**
+ * \file pros/error.h
+ *
+ * Contains macro definitions for return types, mostly errors
+ *
+ * This file should not be modified by users, since it gets replaced whenever
+ * a kernel upgrade occurs.
+ *
+ * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#ifndef _PROS_ERROR_H_
+#define _PROS_ERROR_H_
+
+#include "limits.h"
+
+// Different Byte Size Errors
+#define PROS_ERR_BYTE (INT8_MAX)
+#define PROS_ERR_2_BYTE (INT16_MAX)
+#define PROS_ERR (INT32_MAX)
+#define PROS_ERR_F (INFINITY)
+
+// Return This on Success
+#define PROS_SUCCESS (1)
+
+#endif

include/pros/imu.h

@@ -56,6 +56,16 @@ typedef struct __attribute__((__packed__)) euler_s {
 	double yaw;
 } euler_s_t;
 
+#ifdef PROS_USE_SIMPLE_NAMES
+#ifdef __cplusplus
+#define IMU_STATUS_CALIBRATING pros::E_IMU_STATUS_CALIBRATING
+#define IMU_STATUS_ERROR pros::E_IMU_STATUS_ERROR
+#else
+#define IMU_STATUS_CALIBRATING E_IMU_STATUS_CALIBRATING
+#define IMU_STATUS_ERROR E_IMU_STATUS_ERROR
+#endif
+#endif
+
 #define IMU_MINIMUM_DATA_RATE 5
 
 /**
@@ -78,6 +88,27 @@ typedef struct __attribute__((__packed__)) euler_s {
  */
 int32_t imu_reset(uint8_t port);
 
+/**
+ * Calibrate IMU and Blocks while Calibrating
+ *
+ * Calibration takes approximately 2 seconds and blocks during this period, 
+ * with a timeout for this operation being set a 3 seconds as a safety margin.
+ * Like the other reset function, this function also blocks until the IMU 
+ * status flag is set properly to E_IMU_STATUS_CALIBRATING, with a minimum 
+ * blocking time of 5ms and a timeout of 1 second if it's never set.
+ *
+ * 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 an Inertial Sensor
+ * EAGAIN - The sensor is already calibrating, or time out setting the status flag.
+ *
+ * \param port
+ *        The V5 Inertial Sensor port number from 1-21
+ * \return 1 if the operation was successful or PROS_ERR if the operation
+ * failed (timing out or port claim failure), setting errno.
+ */
+int32_t imu_reset_blocking(uint8_t port);
 
 /**
  * Set the Inertial Sensor's refresh interval in milliseconds.

include/pros/imu.hpp

@@ -31,20 +31,24 @@ class Imu {
 	/**
 	 * Calibrate IMU
 	 *
-	 * Calibration takes approximately 2 seconds, but this function only blocks
- 	 * until the IMU status flag is set properly to E_IMU_STATUS_CALIBRATING,
-	 * with a minimum blocking time of 5ms.
+	 * Calibration takes approximately 2 seconds and blocks during this period if 
+	 * the blocking param is true, with a timeout for this operation being set a 3 
+	 * seconds as a safety margin. This function also blocks until the IMU 
+	 * status flag is set properly to E_IMU_STATUS_CALIBRATING, with a minimum 
+	 * blocking time of 5ms and a timeout of 1 second if it's never set.
 	 * 
 	 * 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 an Inertial Sensor
 	 * EAGAIN - The sensor is already calibrating, or time out setting the status flag.
 	 *
+	 * \param blocking 
+	 *			Whether this function blocks during calibration.
 	 * \return 1 if the operation was successful or PROS_ERR if the operation
 	 * failed, setting errno.
 	 */
-	virtual std::int32_t reset() const;
+	virtual std::int32_t reset(bool blocking = false) const;
 	/**
 	* Set the Inertial Sensor's refresh interval in milliseconds.
 	*
@@ -63,7 +67,8 @@ class Imu {
 	* ENODEV - The port cannot be configured as an Inertial Sensor
 	* EAGAIN - The sensor is still calibrating
 	*
-	* \param rate The data refresh interval in milliseconds
+	* \param rate 
+	*			The data refresh interval in milliseconds
 	* \return 1 if the operation was successful or PROS_ERR if the operation
 	* failed, setting errno.
 	*/

include/pros/link.h

@@ -29,9 +29,25 @@ namespace pros {
 
 typedef enum link_type_e {
     E_LINK_RECIEVER = 0,
-    E_LINK_TRANSMITTER
+    E_LINK_TRANSMITTER,
+    E_LINK_RX = E_LINK_RECIEVER,
+    E_LINK_TX = E_LINK_TRANSMITTER
 } link_type_e_t;
 
+#ifdef PROS_USE_SIMPLE_NAMES
+#ifdef __cplusplus
+#define LINK_RECIEVER pros::E_LINK_RECIEVER
+#define LINK_TRANSMITTER pros::E_LINK_TRANSMITTER
+#define LINK_RX pros::E_LINK_RX
+#define LINK_TX pros::E_LINK_TX
+#else
+#define LINK_RECIEVER E_LINK_RECIEVER
+#define LINK_TRANSMITTER E_LINK_TRANSMITTER
+#define LINK_RX E_LINK_RX
+#define LINK_TX E_LINK_TX
+#endif
+#endif
+
 #define LINK_BUFFER_SIZE 512
 
 #ifdef __cplusplus
@@ -41,6 +57,7 @@ namespace c {
 /**
  * Initializes a link on a radio port, with an indicated type. There might be a
  * 1 to 2 second delay from when this function is called to when the link is initializes.
+ * PROS currently only supports the use of one radio per brain.
  *
  * This function uses the following values of errno when an error state is
  * reached:
@@ -66,6 +83,7 @@ uint32_t link_init(uint8_t port, const char* link_id, link_type_e_t type);
  * Initializes a link on a radio port, with an indicated type and the ability for
  * vexlink to override the controller radio. There might be a 1 to 2 second delay
  * from when this function is called to when the link is initializes.
+ * PROS currently only supports the use of one radio per brain.
  *
  * This function uses the following values of errno when an error state is
  * reached:

include/pros/motors.h

@@ -597,8 +597,14 @@ typedef enum motor_encoder_units_e {
  */
 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;
 
@@ -613,9 +619,15 @@ typedef enum motor_gearset_e {
 #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
@@ -627,9 +639,15 @@ typedef enum motor_gearset_e {
 #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