✨ 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.
  *

include/pros/adi.hpp

@@ -23,6 +23,14 @@
 #include <cstdint>
 
 namespace pros {
+
+/** type definition for the pair of smart port and adi port for the basic adi devices */
+using ext_adi_port_pair_t = std::pair<std::uint8_t, std::uint8_t>;
+
+/** type definition for the triplet of smart port and two adi ports for the two wire adi devices*/
+using ext_adi_port_tuple_t = std::tuple<std::uint8_t, std::uint8_t, std::uint8_t>;
+
+
 class ADIPort {
 	public:
 	/**
@@ -32,12 +40,27 @@ class ADIPort {
 	 * reached:
 	 * ENXIO - The given value is not within the range of ADI Ports
 	 *
-	 * \param port
+	 * \param adi_port
 	 *        The ADI port number (from 1-8, 'a'-'h', 'A'-'H') to configure
 	 * \param type
 	 *        The configuration type for the port
 	 */
-	ADIPort(std::uint8_t port, adi_port_config_e_t type = E_ADI_TYPE_UNDEFINED);
+	ADIPort(std::uint8_t adi_port, adi_port_config_e_t type = E_ADI_TYPE_UNDEFINED);
+
+	/**
+	 * Configures an ADI port on an adi expander to act as a given sensor type.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of ADI Ports
+	 *
+	 * \param port
+	 *        The pair of the ADI port number (from 1-8, 'a'-'h', 'A'-'H') and the
+	 *  	  smart port number (from 1-22) to configure 
+	 * \param type
+	 *        The configuration type for the port
+	 */
+	ADIPort(ext_adi_port_pair_t port, adi_port_config_e_t type = E_ADI_TYPE_UNDEFINED);
 
 	virtual ~ADIPort(void) = default;
 
@@ -82,7 +105,8 @@ class ADIPort {
 
 	protected:
 	ADIPort(void);
-	std::uint8_t _port;
+	std::uint8_t _adi_port;
+	std::uint8_t _smart_port;
 };
 
 class ADIAnalogIn : private ADIPort {
@@ -94,15 +118,29 @@ class ADIAnalogIn : private ADIPort {
 	 * reached:
 	 * ENXIO - The given value is not within the range of ADI Ports
 	 *
-	 * \param port
+	 * \param adi_port
 	 *        The ADI port number (from 1-8, 'a'-'h', 'A'-'H') to configure
-	 * \param type
-	 *        The configuration type for the port
 	 *
 	 * \return 1 if the operation was successful or PROS_ERR if the operation
 	 * failed, setting errno.
 	 */
-	ADIAnalogIn(std::uint8_t port);
+	ADIAnalogIn(std::uint8_t adi_port);
+
+	/**
+	 * Configures an ADI port on an adi expander to act as an Analog Input.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of ADI Ports
+	 *
+	 * \param port
+	 *        The pair of the ADI port number (from 1-8, 'a'-'h', 'A'-'H') and the
+	 *  	  smart port number (from 1-22) to configure 
+	 *
+	 * \return 1 if the operation was successful or PROS_ERR if the operation
+	 * failed, setting errno.
+	 */
+	ADIAnalogIn(ext_adi_port_pair_t port);\
 
 	/**
 	 * Calibrates the analog sensor on the specified port and returns the new
@@ -198,12 +236,23 @@ class ADIAnalogOut : private ADIPort {
 	 * reached:
 	 * ENXIO - The given value is not within the range of ADI Ports.
 	 *
-	 * \param port
+	 * \param adi_port
 	 *        The ADI port number (from 1-8, 'a'-'h', 'A'-'H') to configure
-	 * \param type
-	 *        The configuration type for the port
 	 */
-	ADIAnalogOut(std::uint8_t port);
+	ADIAnalogOut(std::uint8_t adi_port);
+
+	/**
+	 * Configures an ADI port on an adi_expander to act as an Analog Output.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of ADI Ports.
+	 *
+	 * \param port
+	 *        The pair of the ADI port number (from 1-8, 'a'-'h', 'A'-'H') and the
+	 *  	  smart port number (from 1-22) to configure 
+	 */
+	ADIAnalogOut(ext_adi_port_pair_t port);
 
 	/**
 	 * Sets the value for the given ADI port.
@@ -233,12 +282,27 @@ class ADIDigitalOut : private ADIPort {
 	 * reached:
 	 * ENXIO - The given value is not within the range of ADI Ports.
 	 *
-	 * \param port
+	 * \param adi_port
 	 *        The ADI port number (from 1-8, 'a'-'h', 'A'-'H') to configure
-	 * \param type
-	 *        The configuration type for the port
+	 * \param init_state
+	 *        The initial state for the port
 	 */
-	ADIDigitalOut(std::uint8_t port, bool init_state = LOW);
+	ADIDigitalOut(std::uint8_t adi_port, bool init_state = LOW);
+
+	/**
+	 * Configures an ADI port on an adi_expander to act as a Digital Output.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of ADI Ports.
+	 *
+	 * \param port
+	 *        The pair of the ADI port number (from 1-8, 'a'-'h', 'A'-'H') and the
+	 *  	  smart port number (from 1-22) to configure 
+	 * \param init_state
+	 *        The initial state for the port
+	 */
+	ADIDigitalOut(ext_adi_port_pair_t port, bool init_state = LOW);
 
 	/**
 	 * Sets the value for the given ADI port.
@@ -268,12 +332,23 @@ class ADIDigitalIn : private ADIPort {
 	 * reached:
 	 * ENXIO - The given value is not within the range of ADI Ports.
 	 *
-	 * \param port
+	 * \param adi_port
 	 *        The ADI port number (from 1-8, 'a'-'h', 'A'-'H') to configure
-	 * \param type
-	 *        The configuration type for the port
 	 */
-	ADIDigitalIn(std::uint8_t port);
+	ADIDigitalIn(std::uint8_t adi_port);
+
+	/**
+	 * Configures an ADI port on an adi_expander to act as a Digital Input.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of ADI Ports.
+	 *
+	 * \param port
+	 *        The pair of the ADI port number (from 1-8, 'a'-'h', 'A'-'H') and the
+	 *  	  smart port number (from 1-22) to configure 
+	 */
+	ADIDigitalIn(ext_adi_port_pair_t port);
 
 	/**
 	 * Gets a rising-edge case for a digital button press.
@@ -318,13 +393,24 @@ class ADIMotor : private ADIPort {
 	 * reached:
 	 * ENXIO - The given value is not within the range of ADI Ports.
 	 *
-	 * \param port
+	 * \param adi_port
 	 *        The ADI port number (from 1-8, 'a'-'h', 'A'-'H') to configure
-	 * \param type
-	 *        The configuration type for the port
 	 */
-	ADIMotor(std::uint8_t port);
+	ADIMotor(std::uint8_t adi_port);
 
+	/**
+	 * Configures an ADI port on an adi_expander to act as a Motor.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of ADI Ports.
+	 *
+	 * \param port
+	 *        The pair of the ADI port number (from 1-8, 'a'-'h', 'A'-'H') and the
+	 *  	  smart port number (from 1-22) to configure 
+	 */
+	ADIMotor(ext_adi_port_pair_t port);
+
 	/**
 	 * Stops the motor on the given port.
 	 *
@@ -374,16 +460,31 @@ class ADIEncoder : private ADIPort {
 	 * reached:
 	 * ENXIO - The given value is not within the range of ADI Ports.
 	 *
-	 * \param port_top
-	 *        The "top" wire from the encoder sensor with the removable cover side
+	 * \param adi_port_top
+	 *        The tuple of the "top" wire from the encoder sensor with the removable cover side
 	 *        UP
-	 * \param port_bottom
-	 *        The "bottom" wire from the encoder sensor
+	 * \param adi_port_bottom
+	 * 		  The "bottom" wire from the encoder sensor
 	 * \param reverse
 	 *        If "true", the sensor will count in the opposite direction
 	 */
-	ADIEncoder(std::uint8_t port_top, std::uint8_t port_bottom, bool reversed = false);
-
+	ADIEncoder(std::uint8_t adi_port_top, std::uint8_t adi_port_bottom, bool reversed = false);
+
+	/**
+	 * Configures a set of ADI ports on an adi_expander to act as an Encoder.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of ADI Ports.
+	 *
+	 * \param port
+	 *        The tuple of the "top" wire from the encoder sensor with the removable cover side
+	 *        UP, the "bottom" wire from the encoder sensor, and the smart port number
+	 * \param reverse
+	 *        If "true", the sensor will count in the opposite direction
+	 */
+	ADIEncoder(ext_adi_port_tuple_t port, bool reversed = false);
+
 	/**
 	 * Sets the encoder value to zero.
 	 *
@@ -416,8 +517,8 @@ class ADIEncoder : private ADIPort {
 
 class ADIUltrasonic : private ADIPort {
 	public:
-	/**
-	 * Configures a set of ADI ports to act as an Ultrasonic.
+		/**
+	 * Configures a set of ADI ports on an adi_expander to act as an Ultrasonic sensor.
 	 *
 	 * This function uses the following values of errno when an error state is
 	 * reached:
@@ -430,7 +531,21 @@ class ADIUltrasonic : private ADIPort {
 	 *        The port connected to the yellow INPUT cable. This should be in the
 	 *        next highest port following port_ping.
 	 */
-	ADIUltrasonic(std::uint8_t port_ping, std::uint8_t port_echo);
+	ADIUltrasonic(std::uint8_t adi_port_ping, std::uint8_t adi_port_echo);
+
+	/**
+	 * Configures a set of ADI ports on an adi_expander to act as an Ultrasonic sensor.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of ADI Ports.
+	 *
+	 * \param port
+	 *        The tuple of the port connected to the orange OUTPUT cable (1, 3, 5, 7 or
+	 * 		  'A', 'C', 'E', 'G'), the port connected to the yellow INPUT cable (the next
+	 * 	 	  highest port following port_ping), and the smart port number.
+	 */
+	ADIUltrasonic(ext_adi_port_tuple_t port);
 
 	/**
 	 * Gets the current ultrasonic sensor value in centimeters.
@@ -446,15 +561,15 @@ class ADIUltrasonic : private ADIPort {
 	 * \return The distance to the nearest object in m^-4 (10000 indicates 1
 	 * meter), measured from the sensor's mounting points.
 	 */
-	using ADIPort::get_value;
+	std::int32_t get_value(void) const;
 };
 
 class ADIGyro : private ADIPort {
 	public:
 	/**
-	 * Initializes a gyroscope on the given port. If the given port has not
-	 * previously been configured as a gyro, then this function starts a 1300ms
-	 * calibration period.
+	 * Initializes a gyroscope on the given port of an adi expander. If the given 
+	 * port has not previously been configured as a gyro, then this function starts 
+	 * a 1300ms calibration period.
 	 *
 	 * It is highly recommended that an ADIGyro object be created in initialize()
 	 * when the robot is stationary to ensure proper calibration. If an ADIGyro
@@ -466,13 +581,37 @@ class ADIGyro : private ADIPort {
 	 * reached:
 	 * ENXIO - The given value is not within the range of ADI Ports
 	 *
-	 * \param port
+	 * \param adi_port
 	 *        The ADI port to initialize as a gyro (from 1-8, 'a'-'h', 'A'-'H')
 	 * \param multiplier
 	 *        A scalar value that will be multiplied by the gyro heading value
 	 *        supplied by the ADI
 	 */
-	ADIGyro(std::uint8_t port, double multiplier = 1);
+	ADIGyro(std::uint8_t adi_port, double multiplier = 1);
+
+	/**
+	 * Initializes a gyroscope on the given port of an adi expander. If the given 
+	 * port has not previously been configured as a gyro, then this function starts 
+	 * a 1300ms calibration period.
+	 *
+	 * It is highly recommended that an ADIGyro object be created in initialize()
+	 * when the robot is stationary to ensure proper calibration. If an ADIGyro
+	 * object is declared at the global scope, a hardcoded 1300ms delay at the
+	 * beginning of initialize will be necessary to ensure that the gyro's
+	 * returned values are correct at the beginning of autonomous/opcontrol.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of ADI Ports
+	 *
+	 * \param port
+	 *        The pair of the ADI port number (from 1-8, 'a'-'h', 'A'-'H') and the
+	 *  	  smart port number (from 1-22) to configure 
+	 * \param multiplier
+	 *        A scalar value that will be multiplied by the gyro heading value
+	 *        supplied by the ADI
+	 */
+	ADIGyro(ext_adi_port_pair_t port, double multiplier = 1);
 
 	/**
 	 * Gets the current gyro angle in tenths of a degree. Unless a multiplier is