VEX GPS Sensor C API module

struct __attribute__((__packed__)) gps_position_s

#include <pros/gps.h>

X Position (meters)

Y Position (meters)

X Position (meters)

Y Position (meters)

Perceived Pitch based on GPS + IMU

Perceived Roll based on GPS + IMU

Perceived Yaw based on GPS + IMU

Perceived Pitch based on GPS + IMU

Perceived Roll based on GPS + IMU

Perceived Yaw based on GPS + IMU

Object signature

Object type, e.g. normal, color code, or line detection

Left boundary coordinate of the object

Top boundary coordinate of the object

Width of the object

Height of the object

Angle of a color code object in 0.1 degree units (e.g. 10 -> 1 degree, 155 -> 15.5 degrees)

Coordinates of the middle of the object (computed from the values above)

Coordinates of the middle of the object (computed from the values above)

X Position (meters)

Y Position (meters)

Perceived Pitch based on GPS + IMU

Perceived Roll based on GPS + IMU

Perceived Yaw based on GPS + IMU

Perceived Pitch based on GPS + IMU

Perceived Roll based on GPS + IMU

Perceived Yaw based on GPS + IMU

Object signature

Object type, e.g. normal, color code, or line detection

Left boundary coordinate of the object

Top boundary coordinate of the object

Width of the object

Height of the object

Angle of a color code object in 0.1 degree units (e.g. 10 -> 1 degree, 155 -> 15.5 degrees)

Coordinates of the middle of the object (computed from the values above)

Coordinates of the middle of the object (computed from the values above)

int32_t gps_initialize_full(uint8_t port, double xInitial, double yInitial, double headingInitial, double xOffset, double yOffset)

#include <pros/gps.h>

Set the GPS's offset relative to the center of turning in meters, as well as its initial position.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1
#define X_OFFSET .225
#define Y_OFFSET .223
#define X_INITIAL 1.54
#define Y_INITIAL 1.14
#define HEADING_INITIAL 90

void initialize() {
  gps_initialize_full(GPS_PORT, X_OFFSET, Y_OFFSET, X_INITIAL, Y_INITIAL, HEADING_INITIAL);
}

int32_t gps_set_offset(uint8_t port, double xOffset, double yOffset)

#include <pros/gps.h>

Set the GPS's offset relative to the center of turning in meters.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1
#define X_OFFSET -.225
#define Y_OFFSET .225

void initialize() {
  gps_set_offset(GPS_PORT, X_OFFSET, Y_OFFSET);
}

gps_position_s_t gps_get_offset(uint8_t port)

#include <pros/gps.h>

Get the GPS's cartesian location relative to the center of turning/origin in meters.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1

void opcontrol() {
  gps_position_s_t pos;

  while (true) {
    pos = gps_get_offset(GPS_PORT);
    screen_print(TEXT_MEDIUM, 1, "X Offset: %4d, Y Offset: %4d", pos.x, pos.y);
    delay(20);
  }
}

int32_t gps_set_position(uint8_t port, double xInitial, double yInitial, double headingInitial)

#include <pros/gps.h>

Sets the robot's location relative to the center of the field in meters.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1
#define X_INITIAL -1.15
#define Y_INITIAL 1.45
#define HEADING_INITIAL 90

void initialize() {
  gps_set_position(GPS_PORT, X_INITIAL, Y_INITIAL, HEADING_INITIAL);
}

int32_t gps_set_data_rate(uint8_t port, uint32_t rate)

#include <pros/gps.h>

Set the GPS sensor's data rate in milliseconds, only applies to IMU on GPS.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1
#define GPS_DATA_RATE 5

void initialize() {
  gps_set_data_rate(GPS_PORT, GPS_DATA_RATE);
  while (true) {
    // Do something
  }
}

double gps_get_error(uint8_t port)

#include <pros/gps.h>

Get the possible RMS (Root Mean Squared) error in meters for GPS position.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1

void opcontrol() {
  double error;
  error = gps_get_error(GPS_PORT);
  screen_print(TEXT_MEDIUM, 1, "Error: %4d", error);
}

gps_status_s_t gps_get_position_and_orientation(uint8_t port)

#include <pros/gps.h>

Gets the position and roll, yaw, and pitch of the GPS.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1

void opcontrol() {
  gps_status_s_t status;

  while (true) {
    status = gps_get_position_and_orientation(GPS_PORT);
    printf("X: %f, Y: %f, Pitch: %f, Roll: %f, Yaw: %f\n", status.x, status.y, status.pitch, status.roll, status.yaw);
    delay(20);
  }
}

gps_position_s_t gps_get_position(uint8_t port)

#include <pros/gps.h>

Gets the x and y position on the field of the GPS in meters.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1

void opcontrol() {
  gps_position_s_t position;

  while (true) {
    position = gps_get_position(GPS_PORT);
    printf("X: %f, Y: %f\n", position.x, position.y);
    delay(20);
  }
}

double gps_get_position_x(uint8_t port)

#include <pros/gps.h>

Gets the X position in meters of the robot relative to the starting position.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1

void opcontrol() {
  double pos_x;

  while (true) {
    pos_x = gps_get_position_x(GPS_PORT);
    printf("X: %f\n", pos_x);
    delay(20);
  }
}

double gps_get_position_y(uint8_t port)

#include <pros/gps.h>

Gets the Y position in meters of the robot relative to the starting position.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1

void opcontrol() {
  double pos_y;

  while (true) {
    pos_y = gps_get_position_y(GPS_PORT);
    printf("Y: %f\n", pos_y);
    delay(20);
  }
}

gps_orientation_s_t gps_get_orientation(uint8_t port)

#include <pros/gps.h>

Gets the pitch, roll, and yaw of the GPS relative to the starting orientation.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1

void opcontrol() {
  gps_orientation_s_t orientation;

  while (true) {
    orientation = gps_get_orientation(GPS_PORT);
    printf("pitch: %f, roll: %f, yaw: %f\n", orientation.pitch, orientation.roll, orientation.yaw);
    delay(20);
  }
}

double gps_get_pitch(uint8_t port)

#include <pros/gps.h>

Gets the pitch of the robot in degrees relative to the starting oreintation.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1

void opcontrol() {
  double pitch;

  while (true) {
    pitch = gps_get_pitch(GPS_PORT);
    printf("pitch: %f\n", pitch);
    delay(20);
  }
}

double gps_get_roll(uint8_t port)

#include <pros/gps.h>

Gets the roll of the robot in degrees relative to the starting oreintation.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1

void opcontrol() {
  double roll;

  while (true) {
    roll = gps_get_roll(GPS_PORT);
    printf("roll: %f\n", roll);
    delay(20);
  }
}

double gps_get_yaw(uint8_t port)

#include <pros/gps.h>

Gets the yaw of the robot in degrees relative to the starting oreintation.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1

void opcontrol() {
  double yaw;

  while (true) {
    yaw = gps_get_yaw(GPS_PORT);
    printf("yaw: %f\n", yaw);
    delay(20);
  }
}

double gps_get_heading(uint8_t port)

#include <pros/gps.h>

Get the heading in [0,360) degree values.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1

void opcontrol() {
  double heading;

  while (true) {
    heading = gps_get_heading(GPS_PORT);
    printf("heading: %f\n", heading);
    delay(20);
  }
}

double gps_get_heading_raw(uint8_t port)

#include <pros/gps.h>

Get the heading in the max double value and min double value scale.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1

void opcontrol() {
  double heading_raw;

  while (true) {
    heading_raw = gps_get_heading_raw(GPS_PORT);
    printf("heading_raw: %f\n", heading_raw);
    delay(20);
  }
}

gps_gyro_s_t gps_get_gyro_rate(uint8_t port)

#include <pros/gps.h>

Get the GPS's raw gyroscope values.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1

void opcontrol() {
  gps_gyro_s_t gyro;

  while (true) {
    gyro = gps_get_gyro(GPS_PORT);
    printf("Gyro: %f %f %f\n", gyro.x, gyro.y, gyro.z);
    delay(20);
  }
}

double gps_get_gyro_rate_x(uint8_t port)

#include <pros/gps.h>

Get the GPS's raw gyroscope value in x-axis.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1

void opcontrol() {
  double gyro_x;

  while (true) {
    gyro_x = gps_get_gyro_x(GPS_PORT);
    printf("gyro_x: %f\n", gyro_x);
    delay(20);
  }
}

double gps_get_gyro_rate_y(uint8_t port)

#include <pros/gps.h>

Get the GPS's raw gyroscope value in y-axis.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1

void opcontrol() {
  double gyro_y;

  while (true) {
    gyro_y = gps_get_gyro_y(GPS_PORT);
    printf("gyro_y: %f\n", gyro_y);
    delay(20);
  }
}

double gps_get_gyro_rate_z(uint8_t port)

#include <pros/gps.h>

Get the GPS's raw gyroscope value in z-axis.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as a GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1

void opcontrol() {
  double gyro_z;

  while (true) {
    gyro_z = gps_get_gyro_z(GPS_PORT);
    printf("gyro_z: %f\n", gyro_z);
    delay(20);
  }
}

gps_accel_s_t gps_get_accel(uint8_t port)

#include <pros/gps.h>

Get the GPS's raw accelerometer values.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as an GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1

void opcontrol() {
  gps_accel_s_t accel;

  while (true) {
    accel = gps_get_accel(GPS_PORT);
    printf("X: %f, Y: %f, Z: %f\n", accel.x, accel.y, accel.z);
    delay(20);
  }
}

double gps_get_accel_x(uint8_t port)

#include <pros/gps.h>

Get the GPS's raw accelerometer value in x-axis.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as an GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1

void opcontrol() {
  double accel_x;

  while (true) {
    accel_x = gps_get_accel_x(GPS_PORT);
    printf("accel_x: %f\n", accel_x);
    delay(20);
  }
}

double gps_get_accel_y(uint8_t port)

#include <pros/gps.h>

Get the GPS's raw accelerometer value in y-axis.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as an GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1

void opcontrol() {
  double accel_y;

  while (true) {
    accel_y = gps_get_accel_y(GPS_PORT);
    printf("accel_y: %f\n", accel_y);
    delay(20);
  }
}

double gps_get_accel_z(uint8_t port)

#include <pros/gps.h>

Get the GPS's raw accelerometer value in z-axis.

This function uses the following values of errno when an error state is reached: ENXIO - The given value is not within the range of V5 ports (1-21). ENODEV - The port cannot be configured as an GPS EAGAIN - The sensor is still calibrating

Example

#define GPS_PORT 1

void opcontrol() {
  double accel_z;

  while (true) {
    accel_z = gps_get_accel_z(GPS_PORT);
    printf("accel_z: %f\n", accel_z);
    delay(20);
  }
}

typedef struct gps_raw_s gps_accel_s_t

#include <pros/gps.h>

typedef struct gps_raw_s gps_gyro_s_t

#include <pros/gps.h>

gps_position_s_t

#include <pros/gps.h>

gps_status_s_t

#include <pros/gps.h>

gps_orientation_s_t

#include <pros/gps.h>

double x

#include <pros/gps.h>

Perceived Pitch based on GPS + IMU.

double y

#include <pros/gps.h>

Perceived Roll based on GPS + IMU.

double z

#include <pros/gps.h>

Perceived Yaw based on GPS + IMU.