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✨ Add to GPS API #630

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merged 10 commits into from
Mar 12, 2024
Merged

✨ Add to GPS API #630

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26c073c
Added GPS api. Initial commit tested.
phinc23 Feb 9, 2024
59a7ed8
Doxygenized and reverted
phinc23 Feb 10, 2024
e83c210
Delete version
phinc23 Feb 10, 2024
b563a9e
Delete main
phinc23 Feb 10, 2024
43d08d8
Revert "Delete main"
phinc23 Feb 10, 2024
2540a83
Revert "Delete version"
phinc23 Feb 10, 2024
194ae89
Fixed version #
phinc23 Feb 10, 2024
5f04304
Added newlines
phinc23 Feb 15, 2024
b2c0db9
Doxygen typo fixes
phinc23 Mar 8, 2024
4411df5
Fixed degree range doxy
phinc23 Mar 8, 2024
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6 changes: 3 additions & 3 deletions include/api.h
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Expand Up @@ -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"
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10 changes: 10 additions & 0 deletions include/pros/gps.h
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Expand Up @@ -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.
*
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10 changes: 10 additions & 0 deletions include/pros/gps.hpp
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Expand Up @@ -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
*
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47 changes: 46 additions & 1 deletion src/devices/vdml_gps.c
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Expand Up @@ -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);
Expand All @@ -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);
}

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20 changes: 20 additions & 0 deletions src/devices/vdml_gps.cpp
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Expand Up @@ -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);
}
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7 changes: 7 additions & 0 deletions src/main.cpp
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Expand Up @@ -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,
Expand All @@ -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;

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2 changes: 1 addition & 1 deletion version
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Original file line number Diff line number Diff line change
@@ -1 +1 @@
3.8.0
3.7.4-dirty.19.1e7513d