From 26c073cb59c8308868cb2bec5fe68523b293995c Mon Sep 17 00:00:00 2001
From: phinc23 <phinehas.m.craighead@gmail.com>
Date: Fri, 9 Feb 2024 18:41:43 -0500
Subject: [PATCH 01/10] Added GPS api. Initial commit tested.

---
 include/api.h            |  6 ++---
 include/pros/gps.h       | 10 +++++++++
 include/pros/gps.hpp     | 10 +++++++++
 src/devices/vdml_gps.c   | 47 +++++++++++++++++++++++++++++++++++++++-
 src/devices/vdml_gps.cpp | 20 +++++++++++++++++
 src/main.cpp             |  7 ++++++
 version                  |  2 +-
 7 files changed, 97 insertions(+), 5 deletions(-)

diff --git a/include/api.h b/include/api.h
index 7e9231994..3f95a8b2b 100644
--- a/include/api.h
+++ b/include/api.h
@@ -40,9 +40,9 @@
 #endif /* __cplusplus */
 
 #define PROS_VERSION_MAJOR 3
-#define PROS_VERSION_MINOR 8
-#define PROS_VERSION_PATCH 0
-#define PROS_VERSION_STRING "3.8.0"
+#define PROS_VERSION_MINOR 7
+#define PROS_VERSION_PATCH 4
+#define PROS_VERSION_STRING "3.7.4-dirty.19.1e7513d"
 
 #include "pros/adi.h"
 #include "pros/colors.h"
diff --git a/include/pros/gps.h b/include/pros/gps.h
index 1b2e7e7ba..7519001cb 100644
--- a/include/pros/gps.h
+++ b/include/pros/gps.h
@@ -188,6 +188,16 @@ double gps_get_error(uint8_t port);
  */
 gps_status_s_t gps_get_status(uint8_t port);
 
+double gps_get_x_position(uint8_t port);
+
+double gps_get_y_position(uint8_t port);
+
+double gps_get_pitch(uint8_t port);
+
+double gps_get_roll(uint8_t port);
+
+double gps_get_yaw(uint8_t port);
+
 /**
  * Get the heading in [0,360) degree values.
  *
diff --git a/include/pros/gps.hpp b/include/pros/gps.hpp
index fce40c2a4..d791c66e2 100644
--- a/include/pros/gps.hpp
+++ b/include/pros/gps.hpp
@@ -232,6 +232,16 @@ class Gps {
 	 */
 	virtual std::int32_t set_rotation(double target) const;
 
+	virtual double get_x_position() const;
+
+	virtual double get_y_position() const;
+
+	virtual double get_pitch() const;
+
+	virtual double get_roll() const;
+
+	virtual double get_yaw() const;
+
 	/**
 	 * Tare the GPS sensor's rotation value
 	 *
diff --git a/src/devices/vdml_gps.c b/src/devices/vdml_gps.c
index 93b155006..32d044deb 100644
--- a/src/devices/vdml_gps.c
+++ b/src/devices/vdml_gps.c
@@ -87,6 +87,51 @@ gps_status_s_t gps_get_status(uint8_t port) {
 	return_port(port - 1, rtv);
 }
 
+double gps_get_x_position(uint8_t port) {
+	claim_port_f(port - 1, E_DEVICE_GPS);
+	double rtv = PROS_ERR_F;
+	V5_DeviceGpsAttitude data;
+	vexDeviceGpsAttitudeGet(device->device_info, &data, false);
+	rtv = data.position_x;
+	return_port(port - 1, rtv);
+}
+
+double gps_get_y_position(uint8_t port) {
+	claim_port_f(port - 1, E_DEVICE_GPS);	
+	double rtv = PROS_ERR_F;
+	V5_DeviceGpsAttitude data;
+	vexDeviceGpsAttitudeGet(device->device_info, &data, false);
+	rtv = data.position_y;
+	return_port(port - 1, rtv);
+}
+
+double gps_get_pitch(uint8_t port) {
+	claim_port_f(port - 1, E_DEVICE_GPS);
+	double rtv = PROS_ERR_F;
+	V5_DeviceGpsAttitude data;
+	vexDeviceGpsAttitudeGet(device->device_info, &data, false);
+	rtv = data.pitch;
+	return_port(port - 1, rtv);
+}
+
+double gps_get_roll(uint8_t port) {
+	claim_port_f(port - 1, E_DEVICE_GPS);
+	double rtv = PROS_ERR_F;
+	V5_DeviceGpsAttitude data;
+	vexDeviceGpsAttitudeGet(device->device_info, &data, false);
+	rtv = data.roll;
+	return_port(port - 1, rtv);
+}
+
+double gps_get_yaw(uint8_t port) {
+	claim_port_f(port - 1, E_DEVICE_GPS);		
+	double rtv = PROS_ERR_F;
+	V5_DeviceGpsAttitude data;
+	vexDeviceGpsAttitudeGet(device->device_info, &data, false);
+	rtv = data.yaw;
+	return_port(port - 1, rtv);
+}
+
 double gps_get_heading(uint8_t port) {
 	claim_port_f(port - 1, E_DEVICE_GPS);
 	double rtv = vexDeviceGpsDegreesGet(device->device_info);
@@ -101,7 +146,7 @@ double gps_get_heading_raw(uint8_t port) {
 
 double gps_get_rotation(uint8_t port) {
 	claim_port_f(port - 1, E_DEVICE_GPS);
-	double rtv = vexDeviceGpsRotationGet(device->device_info);
+	double rtv = vexDeviceGpsHeadingGet(device->device_info);
 	return_port(port - 1, rtv);
 }
 
diff --git a/src/devices/vdml_gps.cpp b/src/devices/vdml_gps.cpp
index bc0d4e85a..df3d3efdb 100644
--- a/src/devices/vdml_gps.cpp
+++ b/src/devices/vdml_gps.cpp
@@ -43,6 +43,26 @@ pros::c::gps_status_s_t Gps::get_status() const {
 	return pros::c::gps_get_status(_port);
 }
 
+double Gps::get_x_position() const {
+	return pros::c::gps_get_x_position(_port);
+}
+
+double Gps::get_y_position() const {
+	return pros::c::gps_get_y_position(_port);
+}
+
+double Gps::get_pitch() const {
+	return pros::c::gps_get_pitch(_port);
+}
+
+double Gps::get_roll() const {
+	return pros::c::gps_get_roll(_port);
+}
+
+double Gps::get_yaw() const {
+	return pros::c::gps_get_yaw(_port);
+}
+
 double Gps::get_heading() const {
 	return pros::c::gps_get_heading(_port);
 }
diff --git a/src/main.cpp b/src/main.cpp
index c2fbbf539..38a9b7933 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -77,6 +77,7 @@ void opcontrol() {
 	pros::Controller master(pros::E_CONTROLLER_MASTER);
 	pros::Motor left_mtr(1);
 	pros::Motor right_mtr(2);
+  pros::Gps my_gps(10);
 
 	while (true) {
 		pros::lcd::print(0, "%d %d %d", (pros::lcd::read_buttons() & LCD_BTN_LEFT) >> 2,
@@ -85,6 +86,12 @@ void opcontrol() {
 		int left = master.get_analog(ANALOG_LEFT_Y);
 		int right = master.get_analog(ANALOG_RIGHT_Y);
 
+    pros::lcd::print(2, "X pos: %fm, Y pos: %fm", my_gps.get_x_position(), my_gps.get_y_position());
+    pros::lcd::print(3, "Pitch: %fdeg", my_gps.get_pitch());  
+    pros::lcd::print(4, "Roll:  %fdeg", my_gps.get_roll());
+    pros::lcd::print(5, "Yaw:   %fdeg", my_gps.get_yaw());
+    pros::lcd::print(6, "Get rotation: %fdeg", my_gps.get_rotation());
+
 		left_mtr = left;
 		right_mtr = right;
 
diff --git a/version b/version
index 19811903a..c354e3dfe 100644
--- a/version
+++ b/version
@@ -1 +1 @@
-3.8.0
+3.7.4-dirty.19.1e7513d
\ No newline at end of file

From 59a7ed8e9193c4786d9e6bd5ee91bc371f15d112 Mon Sep 17 00:00:00 2001
From: phinc23 <phinehas.m.craighead@gmail.com>
Date: Sat, 10 Feb 2024 11:16:27 -0500
Subject: [PATCH 02/10] Doxygenized and reverted

---
 include/api.h        |  6 ++--
 include/pros/gps.h   | 75 ++++++++++++++++++++++++++++++++++++++
 include/pros/gps.hpp | 85 ++++++++++++++++++++++++++++++++++++++------
 src/main.cpp         |  9 +----
 4 files changed, 154 insertions(+), 21 deletions(-)

diff --git a/include/api.h b/include/api.h
index 3f95a8b2b..7e9231994 100644
--- a/include/api.h
+++ b/include/api.h
@@ -40,9 +40,9 @@
 #endif /* __cplusplus */
 
 #define PROS_VERSION_MAJOR 3
-#define PROS_VERSION_MINOR 7
-#define PROS_VERSION_PATCH 4
-#define PROS_VERSION_STRING "3.7.4-dirty.19.1e7513d"
+#define PROS_VERSION_MINOR 8
+#define PROS_VERSION_PATCH 0
+#define PROS_VERSION_STRING "3.8.0"
 
 #include "pros/adi.h"
 #include "pros/colors.h"
diff --git a/include/pros/gps.h b/include/pros/gps.h
index 7519001cb..1ab1d9540 100644
--- a/include/pros/gps.h
+++ b/include/pros/gps.h
@@ -188,14 +188,89 @@ double gps_get_error(uint8_t port);
  */
 gps_status_s_t gps_get_status(uint8_t port);
 
+/**
+ * Gets the X position in meters of the robot relative to the starting 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 GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The X position in meters. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
 double gps_get_x_position(uint8_t port);
 
+/**
+ * Gets the Y position in meters of the robot relative to the starting 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 GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The Y position in meters. If the operation failed,
+ * returns PROS_ERR_F and errno is set.t.
+ */
 double gps_get_y_position(uint8_t port);
 
+/**
+ * Gets the pitch of the robot in degrees relative to the starting oreintation.
+ *
+ * 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 GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The pitch in [0,360) degree values. If the operation failed,
+ * returns PROS_ERR_F and errno is se
+ */
 double gps_get_pitch(uint8_t port);
 
+/**
+ * Gets the roll of the robot in degrees relative to the starting oreintation.
+ *
+ * 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 GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The roll in [0,360) degree values. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
 double gps_get_roll(uint8_t port);
 
+/**
+ * Gets the yaw of the robot in degrees relative to the starting oreintation.
+ *
+ * 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 GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The yaw in [0,360) degree values. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
 double gps_get_yaw(uint8_t port);
 
 /**
diff --git a/include/pros/gps.hpp b/include/pros/gps.hpp
index d791c66e2..cea5f2aac 100644
--- a/include/pros/gps.hpp
+++ b/include/pros/gps.hpp
@@ -173,6 +173,81 @@ class Gps {
 	 */
 	virtual pros::c::gps_status_s_t get_status() const;
 
+	/**
+	 * Gets the X position in meters of the robot relative to the starting 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 GPS
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 *
+	 * \return The X position in meters. If the operation failed,
+	 * returns PROS_ERR_F and errno is set.
+	 */
+	virtual double get_x_position() const;
+
+	/**
+	 * Gets the Y position in meters of the robot relative to the starting 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 GPS
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 *
+	 * \return The Y position in meters. If the operation failed,
+	 * returns PROS_ERR_F and errno is set.
+	 */
+	virtual double get_y_position() const;
+
+	/**
+	 * Gets the pitch of the robot in degrees relative to the starting oreintation.
+	 *
+	 * 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 GPS
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 *
+	 * \return The pitch in [0,360) degree values. If the operation failed,
+	 * returns PROS_ERR_F and errno is set.
+	 */
+	virtual double get_pitch() const;
+
+	/**
+	 * Gets the roll of the robot in degrees relative to the starting oreintation.
+	 *
+	 * 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 GPS
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 *
+	 * \return The roll in [0,360) degree values. If the operation failed,
+	 * returns PROS_ERR_F and errno is set.
+	 */
+	virtual double get_roll() const;
+
+	/**
+	 * Gets the yaw of the robot in degrees relative to the starting oreintation.
+	 *
+	 * 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 GPS
+	 * EAGAIN - The sensor is still calibrating
+	 *
+	 *
+	 * \return The yaw in [0,360) degree values. If the operation failed,
+	 * returns PROS_ERR_F and errno is set.
+	 */
+	virtual double get_yaw() const;
+
 	/**
 	 * Get the heading in [0,360) degree values.
 	 *
@@ -232,16 +307,6 @@ class Gps {
 	 */
 	virtual std::int32_t set_rotation(double target) const;
 
-	virtual double get_x_position() const;
-
-	virtual double get_y_position() const;
-
-	virtual double get_pitch() const;
-
-	virtual double get_roll() const;
-
-	virtual double get_yaw() const;
-
 	/**
 	 * Tare the GPS sensor's rotation value
 	 *
diff --git a/src/main.cpp b/src/main.cpp
index 38a9b7933..13d12a0f0 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -77,7 +77,6 @@ void opcontrol() {
 	pros::Controller master(pros::E_CONTROLLER_MASTER);
 	pros::Motor left_mtr(1);
 	pros::Motor right_mtr(2);
-  pros::Gps my_gps(10);
 
 	while (true) {
 		pros::lcd::print(0, "%d %d %d", (pros::lcd::read_buttons() & LCD_BTN_LEFT) >> 2,
@@ -86,15 +85,9 @@ void opcontrol() {
 		int left = master.get_analog(ANALOG_LEFT_Y);
 		int right = master.get_analog(ANALOG_RIGHT_Y);
 
-    pros::lcd::print(2, "X pos: %fm, Y pos: %fm", my_gps.get_x_position(), my_gps.get_y_position());
-    pros::lcd::print(3, "Pitch: %fdeg", my_gps.get_pitch());  
-    pros::lcd::print(4, "Roll:  %fdeg", my_gps.get_roll());
-    pros::lcd::print(5, "Yaw:   %fdeg", my_gps.get_yaw());
-    pros::lcd::print(6, "Get rotation: %fdeg", my_gps.get_rotation());
-
 		left_mtr = left;
 		right_mtr = right;
 
 		pros::delay(20);
 	}
-}
+}
\ No newline at end of file

From e83c2100cc9efaefb50505d6d624bb9da803ab4e Mon Sep 17 00:00:00 2001
From: phinc23 <60949293+phinc23@users.noreply.github.com>
Date: Sat, 10 Feb 2024 11:18:41 -0500
Subject: [PATCH 03/10] Delete version

---
 version | 1 -
 1 file changed, 1 deletion(-)
 delete mode 100644 version

diff --git a/version b/version
deleted file mode 100644
index c354e3dfe..000000000
--- a/version
+++ /dev/null
@@ -1 +0,0 @@
-3.7.4-dirty.19.1e7513d
\ No newline at end of file

From b563a9e8d3bde07c543c5afb8939ea3344fc895d Mon Sep 17 00:00:00 2001
From: phinc23 <60949293+phinc23@users.noreply.github.com>
Date: Sat, 10 Feb 2024 11:19:11 -0500
Subject: [PATCH 04/10] Delete main

---
 src/main.cpp | 93 ----------------------------------------------------
 1 file changed, 93 deletions(-)
 delete mode 100644 src/main.cpp

diff --git a/src/main.cpp b/src/main.cpp
deleted file mode 100644
index 13d12a0f0..000000000
--- a/src/main.cpp
+++ /dev/null
@@ -1,93 +0,0 @@
-#include "main.h"
-
-/**
- * A callback function for LLEMU's center button.
- *
- * When this callback is fired, it will toggle line 2 of the LCD text between
- * "I was pressed!" and nothing.
- */
-void on_center_button() {
-	static bool pressed = false;
-	pressed = !pressed;
-	if (pressed) {
-		pros::lcd::set_text(2, "I was pressed!");
-	} else {
-		pros::lcd::clear_line(2);
-	}
-}
-
-/**
- * Runs initialization code. This occurs as soon as the program is started.
- *
- * All other competition modes are blocked by initialize; it is recommended
- * to keep execution time for this mode under a few seconds.
- */
-void initialize() {
-	pros::lcd::initialize();
-	pros::lcd::set_text(1, "Hello PROS User!");
-
-	pros::lcd::register_btn1_cb(on_center_button);
-}
-
-/**
- * Runs while the robot is in the disabled state of Field Management System or
- * the VEX Competition Switch, following either autonomous or opcontrol. When
- * the robot is enabled, this task will exit.
- */
-void disabled() {}
-
-/**
- * Runs after initialize(), and before autonomous when connected to the Field
- * Management System or the VEX Competition Switch. This is intended for
- * competition-specific initialization routines, such as an autonomous selector
- * on the LCD.
- *
- * This task will exit when the robot is enabled and autonomous or opcontrol
- * starts.
- */
-void competition_initialize() {}
-
-/**
- * Runs the user autonomous code. This function will be started in its own task
- * with the default priority and stack size whenever the robot is enabled via
- * the Field Management System or the VEX Competition Switch in the autonomous
- * mode. Alternatively, this function may be called in initialize or opcontrol
- * for non-competition testing purposes.
- *
- * If the robot is disabled or communications is lost, the autonomous task
- * will be stopped. Re-enabling the robot will restart the task, not re-start it
- * from where it left off.
- */
-void autonomous() {}
-
-/**
- * Runs the operator control code. This function will be started in its own task
- * with the default priority and stack size whenever the robot is enabled via
- * the Field Management System or the VEX Competition Switch in the operator
- * control mode.
- *
- * If no competition control is connected, this function will run immediately
- * following initialize().
- *
- * If the robot is disabled or communications is lost, the
- * operator control task will be stopped. Re-enabling the robot will restart the
- * task, not resume it from where it left off.
- */
-void opcontrol() {
-	pros::Controller master(pros::E_CONTROLLER_MASTER);
-	pros::Motor left_mtr(1);
-	pros::Motor right_mtr(2);
-
-	while (true) {
-		pros::lcd::print(0, "%d %d %d", (pros::lcd::read_buttons() & LCD_BTN_LEFT) >> 2,
-		                 (pros::lcd::read_buttons() & LCD_BTN_CENTER) >> 1,
-		                 (pros::lcd::read_buttons() & LCD_BTN_RIGHT) >> 0);
-		int left = master.get_analog(ANALOG_LEFT_Y);
-		int right = master.get_analog(ANALOG_RIGHT_Y);
-
-		left_mtr = left;
-		right_mtr = right;
-
-		pros::delay(20);
-	}
-}
\ No newline at end of file

From 43d08d85363b1e0445d88262dfcdbcb818943593 Mon Sep 17 00:00:00 2001
From: phinc23 <phinehas.m.craighead@gmail.com>
Date: Sat, 10 Feb 2024 11:34:34 -0500
Subject: [PATCH 05/10] Revert "Delete main"

---
 src/main.cpp | 93 ++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 93 insertions(+)
 create mode 100644 src/main.cpp

diff --git a/src/main.cpp b/src/main.cpp
new file mode 100644
index 000000000..13d12a0f0
--- /dev/null
+++ b/src/main.cpp
@@ -0,0 +1,93 @@
+#include "main.h"
+
+/**
+ * A callback function for LLEMU's center button.
+ *
+ * When this callback is fired, it will toggle line 2 of the LCD text between
+ * "I was pressed!" and nothing.
+ */
+void on_center_button() {
+	static bool pressed = false;
+	pressed = !pressed;
+	if (pressed) {
+		pros::lcd::set_text(2, "I was pressed!");
+	} else {
+		pros::lcd::clear_line(2);
+	}
+}
+
+/**
+ * Runs initialization code. This occurs as soon as the program is started.
+ *
+ * All other competition modes are blocked by initialize; it is recommended
+ * to keep execution time for this mode under a few seconds.
+ */
+void initialize() {
+	pros::lcd::initialize();
+	pros::lcd::set_text(1, "Hello PROS User!");
+
+	pros::lcd::register_btn1_cb(on_center_button);
+}
+
+/**
+ * Runs while the robot is in the disabled state of Field Management System or
+ * the VEX Competition Switch, following either autonomous or opcontrol. When
+ * the robot is enabled, this task will exit.
+ */
+void disabled() {}
+
+/**
+ * Runs after initialize(), and before autonomous when connected to the Field
+ * Management System or the VEX Competition Switch. This is intended for
+ * competition-specific initialization routines, such as an autonomous selector
+ * on the LCD.
+ *
+ * This task will exit when the robot is enabled and autonomous or opcontrol
+ * starts.
+ */
+void competition_initialize() {}
+
+/**
+ * Runs the user autonomous code. This function will be started in its own task
+ * with the default priority and stack size whenever the robot is enabled via
+ * the Field Management System or the VEX Competition Switch in the autonomous
+ * mode. Alternatively, this function may be called in initialize or opcontrol
+ * for non-competition testing purposes.
+ *
+ * If the robot is disabled or communications is lost, the autonomous task
+ * will be stopped. Re-enabling the robot will restart the task, not re-start it
+ * from where it left off.
+ */
+void autonomous() {}
+
+/**
+ * Runs the operator control code. This function will be started in its own task
+ * with the default priority and stack size whenever the robot is enabled via
+ * the Field Management System or the VEX Competition Switch in the operator
+ * control mode.
+ *
+ * If no competition control is connected, this function will run immediately
+ * following initialize().
+ *
+ * If the robot is disabled or communications is lost, the
+ * operator control task will be stopped. Re-enabling the robot will restart the
+ * task, not resume it from where it left off.
+ */
+void opcontrol() {
+	pros::Controller master(pros::E_CONTROLLER_MASTER);
+	pros::Motor left_mtr(1);
+	pros::Motor right_mtr(2);
+
+	while (true) {
+		pros::lcd::print(0, "%d %d %d", (pros::lcd::read_buttons() & LCD_BTN_LEFT) >> 2,
+		                 (pros::lcd::read_buttons() & LCD_BTN_CENTER) >> 1,
+		                 (pros::lcd::read_buttons() & LCD_BTN_RIGHT) >> 0);
+		int left = master.get_analog(ANALOG_LEFT_Y);
+		int right = master.get_analog(ANALOG_RIGHT_Y);
+
+		left_mtr = left;
+		right_mtr = right;
+
+		pros::delay(20);
+	}
+}
\ No newline at end of file

From 2540a83cf46d778863af64b54288d3f44a83dd92 Mon Sep 17 00:00:00 2001
From: phinc23 <phinehas.m.craighead@gmail.com>
Date: Sat, 10 Feb 2024 12:06:17 -0500
Subject: [PATCH 06/10] Revert "Delete version"

---
 version | 1 +
 1 file changed, 1 insertion(+)
 create mode 100644 version

diff --git a/version b/version
new file mode 100644
index 000000000..c354e3dfe
--- /dev/null
+++ b/version
@@ -0,0 +1 @@
+3.7.4-dirty.19.1e7513d
\ No newline at end of file

From 194ae899cf14ff27a35c5f7cdaeae379350fe048 Mon Sep 17 00:00:00 2001
From: phinc23 <phinehas.m.craighead@gmail.com>
Date: Sat, 10 Feb 2024 12:11:54 -0500
Subject: [PATCH 07/10] Fixed version #

---
 version | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/version b/version
index c354e3dfe..0be1fc7d2 100644
--- a/version
+++ b/version
@@ -1 +1 @@
-3.7.4-dirty.19.1e7513d
\ No newline at end of file
+3.8.0
\ No newline at end of file

From 5f04304a9222c0cf03c71715db20a17ce7248bf7 Mon Sep 17 00:00:00 2001
From: phinc23 <phinehas.m.craighead@gmail.com>
Date: Wed, 14 Feb 2024 21:32:43 -0500
Subject: [PATCH 08/10] Added newlines

---
 src/main.cpp | 2 +-
 version      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index 13d12a0f0..c2fbbf539 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -90,4 +90,4 @@ void opcontrol() {
 
 		pros::delay(20);
 	}
-}
\ No newline at end of file
+}
diff --git a/version b/version
index 0be1fc7d2..19811903a 100644
--- a/version
+++ b/version
@@ -1 +1 @@
-3.8.0
\ No newline at end of file
+3.8.0

From b2c0db963884f90c648cd5c6249e9017d04cd591 Mon Sep 17 00:00:00 2001
From: phinc23 <phinehas.m.craighead@gmail.com>
Date: Fri, 8 Mar 2024 15:51:02 -0500
Subject: [PATCH 09/10] Doxygen typo fixes

---
 include/pros/gps.h   | 10 +++++-----
 include/pros/gps.hpp |  6 +++---
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/include/pros/gps.h b/include/pros/gps.h
index 1ab1d9540..e94865804 100644
--- a/include/pros/gps.h
+++ b/include/pros/gps.h
@@ -218,12 +218,12 @@ double gps_get_x_position(uint8_t port);
  * 				 The V5 GPS port number from 1-21
  * 
  * \return The Y position in meters. If the operation failed,
- * returns PROS_ERR_F and errno is set.t.
+ * returns PROS_ERR_F and errno is set.
  */
 double gps_get_y_position(uint8_t port);
 
 /**
- * Gets the pitch of the robot in degrees relative to the starting oreintation.
+ * Gets the pitch of the GPS in degrees relative to the starting orientation.
  *
  * This function uses the following values of errno when an error state is
  * reached:
@@ -235,12 +235,12 @@ double gps_get_y_position(uint8_t port);
  * 				 The V5 GPS port number from 1-21
  * 
  * \return The pitch in [0,360) degree values. If the operation failed,
- * returns PROS_ERR_F and errno is se
+ * returns PROS_ERR_F and errno is set.
  */
 double gps_get_pitch(uint8_t port);
 
 /**
- * Gets the roll of the robot in degrees relative to the starting oreintation.
+ * Gets the roll of the GPS in degrees relative to the starting orientation.
  *
  * This function uses the following values of errno when an error state is
  * reached:
@@ -257,7 +257,7 @@ double gps_get_pitch(uint8_t port);
 double gps_get_roll(uint8_t port);
 
 /**
- * Gets the yaw of the robot in degrees relative to the starting oreintation.
+ * Gets the yaw of the GPS in degrees relative to the starting orientation.
  *
  * This function uses the following values of errno when an error state is
  * reached:
diff --git a/include/pros/gps.hpp b/include/pros/gps.hpp
index cea5f2aac..f25bd6087 100644
--- a/include/pros/gps.hpp
+++ b/include/pros/gps.hpp
@@ -204,7 +204,7 @@ class Gps {
 	virtual double get_y_position() const;
 
 	/**
-	 * Gets the pitch of the robot in degrees relative to the starting oreintation.
+	 * Gets the pitch of the GPS in degrees relative to the starting orientation.
 	 *
 	 * This function uses the following values of errno when an error state is
 	 * reached:
@@ -219,7 +219,7 @@ class Gps {
 	virtual double get_pitch() const;
 
 	/**
-	 * Gets the roll of the robot in degrees relative to the starting oreintation.
+	 * Gets the roll of the GPS in degrees relative to the starting orientation.
 	 *
 	 * This function uses the following values of errno when an error state is
 	 * reached:
@@ -234,7 +234,7 @@ class Gps {
 	virtual double get_roll() const;
 
 	/**
-	 * Gets the yaw of the robot in degrees relative to the starting oreintation.
+	 * Gets the yaw of the GPS in degrees relative to the starting orientation.
 	 *
 	 * This function uses the following values of errno when an error state is
 	 * reached:

From 4411df589da8beb20056046c4260ae2337ac12b7 Mon Sep 17 00:00:00 2001
From: phinc23 <phinehas.m.craighead@gmail.com>
Date: Fri, 8 Mar 2024 17:59:51 -0500
Subject: [PATCH 10/10] Fixed degree range doxy

---
 include/pros/gps.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/include/pros/gps.h b/include/pros/gps.h
index e94865804..917f69387 100644
--- a/include/pros/gps.h
+++ b/include/pros/gps.h
@@ -234,7 +234,7 @@ double gps_get_y_position(uint8_t port);
  * \param  port
  * 				 The V5 GPS port number from 1-21
  * 
- * \return The pitch in [0,360) degree values. If the operation failed,
+ * \return The pitch in (-90,90] degree values. If the operation failed,
  * returns PROS_ERR_F and errno is set.
  */
 double gps_get_pitch(uint8_t port);
@@ -251,7 +251,7 @@ double gps_get_pitch(uint8_t port);
  * \param  port
  * 				 The V5 GPS port number from 1-21
  * 
- * \return The roll in [0,360) degree values. If the operation failed,
+ * \return The roll in (-180,180] degree values. If the operation failed,
  * returns PROS_ERR_F and errno is set.
  */
 double gps_get_roll(uint8_t port);
@@ -268,7 +268,7 @@ double gps_get_roll(uint8_t port);
  * \param  port
  * 				 The V5 GPS port number from 1-21
  * 
- * \return The yaw in [0,360) degree values. If the operation failed,
+ * \return The yaw in (-180,180] degree values. If the operation failed,
  * returns PROS_ERR_F and errno is set.
  */
 double gps_get_yaw(uint8_t port);