📝Update docs for pre-release (#657)

* Update version * 🐛 Fix pros::E_TEXT_LARGE_CENTER Simple Name * Update version numbers * 🐛Motor bug fixes and add new set_gearing (#611) * ✨Add list_files function (#612) * Add list_files * renamed c function * Clarify the docs * ✨ ADI Get Port (#613) * Initial Commit. Added get_port() for adi. * Second commit. Fixed changes. * 🐛Vex link default override (#614) * Initial Commit. Changed defualt param. * Fixed param docs * ✨Field Control State Getter (#608) * Field Control State Getter * Fixed merge issues * Removed left over testing code * change macros to enum/functions --------- Co-authored-by: noam987 <[email protected]> Co-authored-by: noam987 <[email protected]> * Added vexFileSync when writing to files (#619) * 🐛Fix rotation sensor reversed port (#618) * 🐛 Field Control Getter Return Value (#627) * Field Control State Getter * Fixed merge issues * Removed left over testing code * change macros to enum/functions * fix return value issue * fixed version --------- Co-authored-by: noam987 <[email protected]> Co-authored-by: noam987 <[email protected]> * ✨default the VFS to the sd card (#621) * Fix motor voltage limit port mutex returning * Initial implementation for get_all_devices * Remove use of templating * modify gps functions * add example code to gps header files * revert api.h and version * add newline at end of gps.c * add newline at end of version * Completed get_all_devices member function for all critical devices * Fix compile issues * 🐛ADI mutex fix (#633) * Fixed duplicate zero indexing in ext_adi_led_set_pixel as well as validate_type * testing * Fixed zero indexing * fix merge * removes an extra -1 * Add missing -1 * Last -1 * Fix return without releasing mutex --------- Co-authored-by: noam987 <[email protected]> * ✨Adds static getters for some devices (#653) * imu_v1 * revert main.cpp * Add injector for gps * rename to _ casing and add vision sensor * 📝 PROS 4: Documentation Fixes for optical and distance sensor (#654) * Documentation Fixes for optical sensor * Distance sensor documentation fixes * Added alias function get_distance for get for distance sensor * Update get_distance func header for distance sensor * 🐛Fixed Imu::is_calibrating function for PROS 4 #626 (#629) * Fixed Imu::is_calibrating function Updated imu status enums to properly reflect values returned by get_status. Also modifed imu::is_calibrating so it returns the correct value. * Bugfixes from the pros 3 version --------- Co-authored-by: noam987 <[email protected]> Co-authored-by: noam987 <[email protected]> * 🐛Remove = overload from motor groups (#656) --------- Co-authored-by: Richard Stump <[email protected]> Co-authored-by: Will Xu <[email protected]> Co-authored-by: Will Xu <[email protected]> Co-authored-by: phinc23 <[email protected]> Co-authored-by: Yuechan Li <[email protected]> Co-authored-by: Sprocket Riggs <[email protected]> Co-authored-by: Cooper7196 <[email protected]> Co-authored-by: Gavin-Niederman <[email protected]> Co-authored-by: aberiggs <[email protected]> Co-authored-by: Yuechan Li <[email protected]> Co-authored-by: Gracelu128 <[email protected]> Co-authored-by: Richard Li <[email protected]>
purduesigbots · May 5, 2024 · cf2e2fa · cf2e2fa
1 parent c445161
commit cf2e2fa
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Showing 40 changed files with 2,294 additions and 1,155 deletions.
diff --git a/include/api.h b/include/api.h
@@ -41,8 +41,9 @@
 
 #define PROS_VERSION_MAJOR 4
 #define PROS_VERSION_MINOR 0
-#define PROS_VERSION_PATCH 2
-#define PROS_VERSION_STRING "4.0.2"
+#define PROS_VERSION_PATCH 6
+#define PROS_VERSION_STRING "4.0.6"
+
 
 #include "pros/adi.h"
 #include "pros/colors.h"

diff --git a/include/pros/abstract_motor.hpp b/include/pros/abstract_motor.hpp
@@ -89,25 +89,6 @@ class AbstractMotor {
 	/// These functions allow programmers to make motors move
 	///@{
 
-	/**
-	 * Sets the voltage for the motor from -127 to 127.
-	 *
-	 * This is designed to map easily to the input from the controller's analog
-	 * stick for simple opcontrol use. The actual behavior of the motor is
-	 * analogous to use of pros::Motor::move().
-	 *
-	 * This function uses the following values of errno when an error state is
-	 * reached:
-	 * ENODEV - The port cannot be configured as a motor
-	 *
-	 * \param voltage
-	 *        The new motor voltage from -127 to 127
-	 *
-	 * \return 1 if the operation was successful or PROS_ERR if the operation
-	 * failed, setting errno.
-	 */
-	virtual std::int32_t operator=(std::int32_t voltage) const = 0;
-
 	/**
 	 * Sets the voltage for the motor from -127 to 127.
 	 *

diff --git a/include/pros/adi.hpp b/include/pros/adi.hpp
@@ -190,6 +190,33 @@ class Port {
 	 */
 	std::int32_t set_value(std::int32_t value) const;
 
+	/**
+	 * Gets the port of the sensor.
+	 *
+	 * \return returns a tuple of integer ports.
+	 * 
+	 * \note The parts of the tuple are {smart port, adi port, second adi port (when applicable)}. 
+	 * 
+	 * 
+	 * \b Example
+	 * \code
+	 * #define DIGITAL_SENSOR_PORT 1 // 'A'
+	 * 
+	 * void initialize() {
+	 *   pros::adi::AnalogIn sensor (DIGITAL_SENSOR_PORT);
+	 *   
+	 * 	 // Getting values from the tuple using std::get<index> 
+	 * 	 int sensorSmartPort = std::get<0>(sensor.get_port()); // First value
+	 *   int sensorAdiPort = std::get<1>(sensor.get_port()); // Second value
+	 * 
+	 * 	 // Prints the first and second value from the port tuple (The Adi Port. The first value is the Smart Port)
+	 *   printf("Sensor Smart Port: %d\n", sensorSmartPort);
+	 *   printf("Sensor Adi Port: %d\n", sensorAdiPort);	
+	 * }
+	 * \endcode
+	 */
+	virtual ext_adi_port_tuple_t get_port() const;
+
 	protected:
 	std::uint8_t _smart_port;
 	std::uint8_t _adi_port;
@@ -396,6 +423,8 @@ class AnalogIn : protected Port {
 	 * value calibrated HR: (16 bit calibrated value), value: (12 bit value)]
 	 */
 	friend std::ostream& operator<<(std::ostream& os, pros::adi::AnalogIn& analog_in);
+
+	using Port::get_port;
 };
 
 ///@}
@@ -484,6 +513,8 @@ class AnalogOut : private Port {
 	 * \endcode
 	 */
 	using Port::set_value;
+
+	using Port::get_port;
 
 	/**
 	 * This is the overload for the << operator for printing to streams
@@ -595,6 +626,8 @@ class DigitalOut : private Port {
 	 */
 	using Port::set_value;
 
+	using Port::get_port;
+
 	/**
 	 * This is the overload for the << operator for printing to streams
 	 *
@@ -731,6 +764,8 @@ class DigitalIn : private Port {
 	 * value: (value)]
 	 */
 	friend std::ostream& operator<<(std::ostream& os, pros::adi::DigitalIn& digital_in);
+
+	using Port::get_port;
 };
 
 ///@}
@@ -875,6 +910,8 @@ class Motor : private Port {
 	 * \endcode
 	 */
 	using Port::get_value;
+
+	using Port::get_port;
 };
 
 ///@}
@@ -1004,6 +1041,11 @@ class Encoder : private Port {
 	 * value: (value)]
 	 */ 
 	friend std::ostream& operator<<(std::ostream& os, pros::adi::Encoder& encoder);
+	ext_adi_port_tuple_t get_port() const override;
+
+	private:
+	ext_adi_port_pair_t _port_pair;
+
 };
 
 ///@}
@@ -1108,6 +1150,8 @@ class Ultrasonic : private Port {
 	 * \endcode
 	 */
 	std::int32_t get_value() const;
+
+	using Port::get_port;
 };
 
 ///@}
@@ -1259,6 +1303,8 @@ class Gyro : private Port {
 	 * \endcode
 	 */
 	std::int32_t reset() const;
+
+	using Port::get_port;
 };
 
 ///@}
@@ -1419,6 +1465,9 @@ class Potentiometer : public AnalogIn {
 	 * Prints in format(this below is all in one line with no new line):
 	 */ 
 	friend std::ostream& operator<<(std::ostream& os, pros::adi::Potentiometer& potentiometer);
+
+	using Port::get_port;
+
 };
 
 ///@}
@@ -1710,6 +1759,8 @@ class Led : protected Port {
 	*/
 	std::int32_t length();
 
+	using Port::get_port;
+
 	protected:
 	std::vector<uint32_t> _buffer;
 };

diff --git a/include/pros/device.hpp b/include/pros/device.hpp
@@ -90,7 +90,7 @@ class Device {
  	 * }
  	 * \endcode
 	 */
-	std::uint8_t get_port(void);
+	std::uint8_t get_port(void) const;
 
 	/**
 	 * Checks if the device is installed.
@@ -137,6 +137,9 @@ class Device {
 	 */
 	pros::DeviceType get_plugged_type() const;
 
+	static pros::DeviceType get_plugged_type(std::uint8_t port);
+
+	static std::vector<Device> get_all_devices(pros::DeviceType device_type = pros::DeviceType::undefined);
 
 	protected:
 	/**

diff --git a/include/pros/distance.hpp b/include/pros/distance.hpp
@@ -56,7 +56,10 @@ class Distance : public Device {
 	 * }
 	 * \endcode
 	 */
-	explicit Distance(const std::uint8_t port);
+	Distance(const std::uint8_t port);
+
+	Distance(const Device& device)
+		: Distance(device.get_port()) {};
 
 	/**
 	 * Get the currently measured distance from the sensor in mm
@@ -67,7 +70,7 @@ class Distance : public Device {
 	 * ENODEV - The port cannot be configured as an Distance Sensor
 	 *
 	 * \return The distance value or PROS_ERR if the operation failed, setting
-	 * errno.
+	 * errno. Will return 9999 if the sensor can not detect an object.
 	 *
 	 * \b Example
 	 * \code
@@ -84,6 +87,35 @@ class Distance : public Device {
 	 */
 	virtual std::int32_t get();
 
+	static std::vector<Distance> get_all_devices();
+
+	/**
+	 * Get the currently measured distance from the sensor in mm.
+	 * \note This function is identical to get().
+	 *
+	 * 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 Distance Sensor
+	 *
+	 * \return The distance value or PROS_ERR if the operation failed, setting
+	 * errno. Will return 9999 if the sensor can not detect an object.
+	 *
+	 * \b Example
+	 * \code
+	 * #define DISTANCE_PORT 1
+	 * 
+	 * void opcontrol() {
+		Distance distance(DISTANCE_PORT);
+	 *   while (true) {
+	 *     printf("Distance confidence: %d\n", distance.get_distance());
+	 *     delay(20);
+	 *   }
+	 * }
+	 * \endcode
+	 */
+	virtual std::int32_t get_distance();
+
 	/**
 	 * Get the confidence in the distance reading
 	 *
@@ -127,7 +159,7 @@ class Distance : public Device {
 	 * ENODEV - The port cannot be configured as an Distance Sensor
 	 *
 	 * \return The size value or PROS_ERR if the operation failed, setting
-	 * errno.
+	 * errno. Will return -1 if the sensor is not able to determine object size.
 	 *
 	 * \b Example
 	 * \code