vex_sdk/
gps.rs

1//! V5 GPS
2
3use core::ffi::c_double;
4
5use crate::V5_DeviceT;
6
7#[repr(C, packed)]
8#[derive(Default, Debug, Copy, Clone, PartialEq)]
9pub struct V5_DeviceGpsRaw {
10    pub x: c_double,
11    pub y: c_double,
12    pub z: c_double,
13    pub w: c_double,
14}
15
16#[repr(C, packed)]
17#[derive(Default, Debug, Copy, Clone, PartialEq)]
18pub struct V5_DeviceGpsAttitude {
19    pub pitch: c_double, // x
20    pub roll: c_double,  // y
21    pub yaw: c_double,   // z
22
23    // spacial position on the field
24    pub position_x: c_double,
25    pub position_y: c_double,
26    pub position_z: c_double,
27
28    // alternative roll, pitch and yaw
29    pub az: c_double,
30    pub el: c_double,
31    pub rot: c_double,
32}
33
34#[repr(C, packed)]
35#[derive(Default, Debug, Copy, Clone, PartialEq)]
36pub struct V5_DeviceGpsQuaternion {
37    pub x: c_double,
38    pub y: c_double,
39    pub z: c_double,
40    pub w: c_double,
41}
42
43unsafe extern "system" {
44    pub fn vexDeviceGpsReset(device: V5_DeviceT);
45    pub fn vexDeviceGpsHeadingGet(device: V5_DeviceT) -> c_double;
46    pub fn vexDeviceGpsDegreesGet(device: V5_DeviceT) -> c_double;
47    pub fn vexDeviceGpsQuaternionGet(device: V5_DeviceT, data: *mut V5_DeviceGpsQuaternion);
48    pub fn vexDeviceGpsAttitudeGet(device: V5_DeviceT, data: *mut V5_DeviceGpsAttitude, bRaw: bool);
49    pub fn vexDeviceGpsRawGyroGet(device: V5_DeviceT, data: *mut V5_DeviceGpsRaw);
50    pub fn vexDeviceGpsRawAccelGet(device: V5_DeviceT, data: *mut V5_DeviceGpsRaw);
51    pub fn vexDeviceGpsStatusGet(device: V5_DeviceT) -> u32;
52    pub fn vexDeviceGpsModeSet(device: V5_DeviceT, mode: u32);
53    pub fn vexDeviceGpsModeGet(device: V5_DeviceT) -> u32;
54    pub fn vexDeviceGpsDataRateSet(device: V5_DeviceT, rate: u32);
55    pub fn vexDeviceGpsOriginSet(device: V5_DeviceT, ox: c_double, oy: c_double);
56    pub fn vexDeviceGpsOriginGet(device: V5_DeviceT, ox: *mut c_double, oy: *mut c_double);
57    pub fn vexDeviceGpsRotationSet(device: V5_DeviceT, value: c_double);
58    pub fn vexDeviceGpsRotationGet(device: V5_DeviceT) -> c_double;
59    pub fn vexDeviceGpsInitialPositionSet(
60        device: V5_DeviceT,
61        initial_x: c_double,
62        initial_y: c_double,
63        initial_rotation: c_double,
64    );
65    pub fn vexDeviceGpsErrorGet(device: V5_DeviceT) -> c_double;
66}
vex_sdk/gps.rs

vex_sdk/
gps.rs
