pros_sys/
rotation.rs

1use core::ffi::c_uint;
2
3pub const ROTATION_MINIMUM_DATA_RATE: c_uint = 5;
4
5extern "C" {
6    /**
7    Reset Rotation Sensor
8
9    Reset the current absolute position to be the same as the
10    Rotation Sensor angle.
11
12    This function uses the following values of errno when an error state is
13    reached:
14    ENXIO - The given value is not within the range of V5 ports (1-21).
15    ENODEV - The port cannot be configured as an Rotation Sensor
16
17    \param port
18           The V5 Rotation Sensor port number from 1-21
19    \return 1 if the operation was successful or PROS_ERR if the operation
20    failed, setting errno.
21    */
22    pub fn rotation_reset(port: u8) -> i32;
23    /**
24    Set the Rotation Sensor's refresh interval in milliseconds.
25
26    The rate may be specified in increments of 5ms, and will be rounded down to
27    the nearest increment. The minimum allowable refresh rate is 5ms. The default
28    rate is 10ms.
29
30    This function uses the following values of errno when an error state is
31    reached:
32    ENXIO - The given value is not within the range of V5 ports (1-21).
33    ENODEV - The port cannot be configured as an Rotation Sensor
34
35    \param port
36           The V5 Rotation Sensor port number from 1-21
37    \param rate The data refresh interval in milliseconds
38    \return 1 if the operation was successful or PROS_ERR if the operation
39    failed, setting errno.
40    */
41    pub fn rotation_set_data_rate(port: u8, rate: u32) -> i32;
42    /**
43    Set the Rotation Sensor position reading to a desired rotation value
44
45    This function uses the following values of errno when an error state is
46    reached:
47    ENXIO - The given value is not within the range of V5 ports (1-21).
48    ENODEV - The port cannot be configured as an Rotation Sensor
49
50    \param port
51             The V5 Rotation Sensor port number from 1-21
52    \param position
53              The position in terms of ticks
54    \return 1 if the operation was successful or PROS_ERR if the operation
55    failed, setting errno.
56    */
57    pub fn rotation_set_position(port: u8, position: u32) -> i32;
58    /**
59    Reset the Rotation Sensor position to 0
60
61    This function uses the following values of errno when an error state is
62    reached:
63    ENXIO - The given value is not within the range of V5 ports (1-21).
64    ENODEV - The port cannot be configured as an Rotation Sensor
65
66    \param port
67             The V5 Rotation Sensor port number from 1-2
68    \return 1 if the operation was successful or PROS_ERR if the operation
69    failed, setting errno.
70    */
71    pub fn rotation_reset_position(port: u8) -> i32;
72    /**
73    Get the Rotation Sensor's current position in centidegrees
74
75    This function uses the following values of errno when an error state is
76    reached:
77    ENXIO - The given value is not within the range of V5 ports (1-21).
78    ENODEV - The port cannot be configured as an Rotation Sensor
79
80    \param  port
81                     The V5 Rotation Sensor port number from 1-21
82    \return The position value or PROS_ERR_F if the operation failed, setting
83    errno.
84    */
85    pub fn rotation_get_position(port: u8) -> i32;
86    /**
87    Get the Rotation Sensor's current velocity in centidegrees per second
88
89    This function uses the following values of errno when an error state is
90    reached:
91    ENXIO - The given value is not within the range of V5 ports (1-21).
92    ENODEV - The port cannot be configured as an Rotation Sensor
93
94    \param  port
95                     The V5 Rotation Sensor port number from 1-21
96    \return The velocity value or PROS_ERR_F if the operation failed, setting
97    errno.
98    */
99    pub fn rotation_get_velocity(port: u8) -> i32;
100    /**
101    Get the Rotation Sensor's current angle in centidegrees (0-36000)
102
103    This function uses the following values of errno when an error state is
104    reached:
105    ENXIO - The given value is not within the range of V5 ports (1-21).
106    ENODEV - The port cannot be configured as an Rotation Sensor
107
108    \param  port
109                     The V5 Rotation Sensor port number from 1-21
110    \return The angle value (0-36000) or PROS_ERR_F if the operation failed, setting
111    errno.
112    */
113    pub fn rotation_get_angle(port: u8) -> i32;
114    /**
115    Set the Rotation Sensor's direction reversed flag
116
117    This function uses the following values of errno when an error state is
118    reached:
119    ENXIO - The given value is not within the range of V5 ports (1-21).
120    ENODEV - The port cannot be configured as an Rotation Sensor
121
122    \param  port
123                     The V5 Rotation Sensor port number from 1-21
124    \param  value
125                     Determines if the direction of the Rotation Sensor is reversed or not.
126
127    \return 1 if operation succeeded or PROS_ERR if the operation failed, setting
128    errno.
129    */
130    pub fn rotation_set_reversed(port: u8, value: bool) -> i32;
131    /**
132    Reverse the Rotation Sensor's direction
133
134    This function uses the following values of errno when an error state is
135    reached:
136    ENXIO - The given value is not within the range of V5 ports (1-21).
137    ENODEV - The port cannot be configured as an Rotation Sensor
138
139    \param  port
140                     The V5 Rotation Sensor port number from 1-21
141
142    \return 1 if the operation was successful or PROS_ERR if the operation
143    failed, setting errno.
144    */
145    pub fn rotation_reverse(port: u8) -> i32;
146    /**
147    Initialize the Rotation Sensor with a reverse flag
148
149    This function uses the following values of errno when an error state is
150    reached:
151    ENXIO - The given value is not within the range of V5 ports (1-21).
152    ENODEV - The port cannot be configured as an Rotation Sensor
153
154    \param  port
155                     The V5 Rotation Sensor port number from 1-21
156    \param  reverse_flag
157                     Determines if the Rotation Sensor is reversed or not.
158
159    \return 1 if the operation was successful or PROS_ERR if the operation
160    failed, setting errno.
161    */
162    pub fn rotation_init_reverse(port: u8, reverse_flag: bool) -> i32;
163    /**
164    Get the Rotation Sensor's reversed flag
165
166    This function uses the following values of errno when an error state is
167    reached:
168    ENXIO - The given value is not within the range of V5 ports (1-21).
169    ENODEV - The port cannot be configured as an Rotation Sensor
170
171    \param  port
172                     The V5 Rotation Sensor port number from 1-21
173
174    \return Boolean value of if the Rotation Sensor's direction is reversed or not
175    or PROS_ERR if the operation failed, setting errno.
176    */
177    pub fn rotation_get_reversed(port: u8) -> i32;
178}
pros_sys/rotation.rs

pros_sys/
rotation.rs
