✨ Add Support for the ADI Expander

include/api.h

@@ -49,6 +49,7 @@
 
 #include "pros/adi.h"
 #include "pros/colors.h"
+#include "pros/ext_adi.h"
 #include "pros/imu.h"
 #include "pros/llemu.h"
 #include "pros/misc.h"

include/pros/adi.h

@@ -111,6 +111,7 @@ typedef enum adi_port_config_e {
 #endif
 #endif
 
+#define INTERNAL_ADI_PORT 22
 #define NUM_ADI_PORTS 8
 
 #ifdef __cplusplus
@@ -327,7 +328,7 @@ int32_t adi_analog_read_calibrated_HR(uint8_t port);
  * Gets the digital value (1 or 0) of a port configured as a digital input.
  *
  * If the port is configured as some other mode, the digital value which
- * reflects the current state of the poprt is returned, which may or may not
+ * reflects the current state of the port is returned, which may or may not
  * differ from the currently set value. The return value is undefined for ports
  * configured as any mode other than a Digital Input.
  *
@@ -386,7 +387,7 @@ int32_t adi_digital_get_new_press(uint8_t port);
  * \return 1 if the operation was successful or PROS_ERR if the operation
  * failed, setting errno.
  */
-int32_t adi_digital_write(uint8_t port, const bool value);
+int32_t adi_digital_write(uint8_t port, bool value);
 
 /**
  * Configures the port as an input or output with a variety of settings.
@@ -493,7 +494,7 @@ int32_t adi_encoder_get(adi_encoder_t enc);
  *
  * \param port_top
  *        The "top" wire from the encoder sensor with the removable cover side
- *        UP
+ *        up
  * \param port_bottom
  *        The "bottom" wire from the encoder sensor
  * \param reverse
@@ -502,7 +503,7 @@ int32_t adi_encoder_get(adi_encoder_t enc);
  * \return An adi_encoder_t object to be stored and used for later calls to
  * encoder functions
  */
-adi_encoder_t adi_encoder_init(uint8_t port_top, uint8_t port_bottom, const bool reverse);
+adi_encoder_t adi_encoder_init(uint8_t port_top, uint8_t port_bottom, bool reverse);
 
 /**
  * Sets the encoder value to zero.