VEX GPS Sensor C API module

Gps(const std::uint8_t port)

#include <pros/gps.hpp>

Creates a GPS object for the given port.

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

Gps(const Device& device)

#include <pros/gps.hpp>

Gps(const std::uint8_t port, double xInitial, double yInitial, double headingInitial) explicit

#include <pros/gps.hpp>

Creates a GPS object for the given port.

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: pros::Gps gps(1, 1.30, 1.20, 90);

Gps(const std::uint8_t port, double xOffset, double yOffset) explicit

#include <pros/gps.hpp>

Creates a GPS object for the given port.

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: pros::Gps gps(1, 1.30, 1.20);

Gps(const std::uint8_t port, double xInitial, double yInitial, double headingInitial, double xOffset, double yOffset) explicit

#include <pros/gps.hpp>

Creates a GPS object for the given port.

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: pros::Gps gps(1, 1.30, 1.20, 180, 1.30, 1.20);

std::int32_t initialize_full(double xInitial, double yInitial, double headingInitial, double xOffset, double yOffset) const virtual

#include <pros/gps.hpp>

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

void opcontrol() {
    Gps gps(GPS_PORT, 1.1, 1.2, 180, .4, .4);
 // this is equivalent to the above line
 gps.initialize_full(1.1, 1.2, 180, .4, .4);
  while (true) {
    delay(20);
  }
}

std::int32_t set_offset(double xOffset, double yOffset) const virtual

#include <pros/gps.hpp>

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

void opcontrol() {
    Gps gps(GPS_PORT, 1.1, 1.2, 180, .4, .4);
 // this is equivalent to the above line
 gps.set_offset(.4, .4);
  while (true) {
    delay(20);
  }
}

static std::vector<Gps> get_all_devices()

#include <pros/gps.hpp>

Gets all GPS sensors.

Example

void opcontrol() {
  std::vector<Gps> gps_all = pros::Gps::get_all_devices();  // All GPS sensors that are connected
}

pros::gps_position_s_t get_offset() const virtual

#include <pros/gps.hpp>

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

std::int32_t set_position(double xInitial, double yInitial, double headingInitial) const virtual

#include <pros/gps.hpp>

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

void opcontrol() {
    Gps gps(GPS_PORT);
 gps.set_position(1.3, 1.4, 180);
  while (true) {
    printf("X: %f, Y: %f, Heading: %f\n", gps.get_position().x,
       gps.get_position().y, gps.get_position().heading);
    delay(20);
  }
}

std::int32_t set_data_rate(std::uint32_t rate) const virtual

#include <pros/gps.hpp>

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

void opcontrol() {
    Gps gps(GPS_PORT);
 gps.set_data_rate(10);
  while (true) {
    printf("X: %f, Y: %f, Heading: %f\n", gps.get_position().x,
       gps.get_position().y, gps.get_position().heading);
    delay(10);
  }
}

double get_error() const virtual

#include <pros/gps.hpp>

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() {
    Gps gps(GPS_PORT);
 double error = gps.get_error();
 printf("Error: %f\n", error);
 pros::delay(20);
}

pros::gps_status_s_t get_position_and_orientation() const virtual

#include <pros/gps.hpp>

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

pros::gps_position_s_t get_position() const virtual

#include <pros/gps.hpp>

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

double get_position_x() const virtual

#include <pros/gps.hpp>

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() {
    Gps gps(GPS_PORT);
 while(true) {
    double pos_x = gps.get_position_x();
    printf("X: %f\n", pos_x);
    pros::delay(20);
 }
}

double get_position_y() const virtual

#include <pros/gps.hpp>

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() {
    Gps gps(GPS_PORT);
 while(true) {
    double pos_y = gps.get_position_y();
    printf("Y: %f\n", pos_y);
    pros::delay(20);
 }
}

pros::gps_orientation_s_t get_orientation() const virtual

#include <pros/gps.hpp>

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

double get_pitch() const virtual

#include <pros/gps.hpp>

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() {
    Gps gps(GPS_PORT);
 while(true) {
    double pitch = gps.get_pitch();
    printf("pitch: %f\n", pitch);
    pros::delay(20);
 }
}

double get_roll() const virtual

#include <pros/gps.hpp>

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() {
    Gps gps(GPS_PORT);
 while(true) {
    double roll = gps.get_roll();
    printf("roll: %f\n", roll);
    pros::delay(20);
 }
}

double get_yaw() const virtual

#include <pros/gps.hpp>

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() {
    Gps gps(GPS_PORT);
 while(true) {
    double yaw = gps.get_yaw();
    printf("yaw: %f\n", yaw);
    pros::delay(20);
 }
}

double get_heading() const virtual

#include <pros/gps.hpp>

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() {
    Gps gps(GPS_PORT);
 while(true) {
    double heading = gps.get_heading();
    printf("Heading: %f\n", heading);
    pros::delay(20);
 }
}

double get_heading_raw() const virtual

#include <pros/gps.hpp>

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() {
    Gps gps(GPS_PORT);
 while(true) {
    double heading = gps.get_heading_raw();
    printf("Heading: %f\n", heading);
    pros::delay(20);
 }
}

pros::gps_gyro_s_t get_gyro_rate() const virtual

#include <pros/gps.hpp>

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() {
  Gps gps(GPS_PORT);
 while(true) {
      double gyro_z = gps.get_gyro_z();
      printf("gyro_z: %f\n", gyro_z);
  pros::delay(20);
 }
}

double get_gyro_rate_x() const virtual

#include <pros/gps.hpp>

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() {
    Gps gps(GPS_PORT);
 while(true) {
    double gyro_x = gps.get_gyro_x();
    printf("gyro_x: %f\n", gyro_x);
    pros::delay(20);
 }
}

double get_gyro_rate_y() const virtual

#include <pros/gps.hpp>

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() {
    Gps gps(GPS_PORT);
 while(true) {
    double gyro_y = gps.get_gyro_y();
    printf("gyro_y: %f\n", gyro_y);
    pros::delay(20);
 }
}

double get_gyro_rate_z() const virtual

#include <pros/gps.hpp>

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() {
  Gps gps(GPS_PORT);
 while(true) {
      double gyro_z = gps.get_gyro_z();
      printf("gyro_z: %f\n", gyro_z);
  pros::delay(20);
 }
}

pros::gps_accel_s_t get_accel() const virtual

#include <pros/gps.hpp>

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

double get_accel_x() const virtual

#include <pros/gps.hpp>

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() {
    Gps gps(GPS_PORT);
 while(true) {
    double accel_x = gps.get_accel_x();
    printf("accel_x: %f\n", accel_x);
    pros::delay(20);
 }
}

double get_accel_y() const virtual

#include <pros/gps.hpp>

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() {
    Gps gps(GPS_PORT);
 while(true) {
    double accel_y = gps.get_accel_y();
    printf("accel_y: %f\n", accel_y);
    pros::delay(20);
 }
}

double get_accel_z() const virtual

#include <pros/gps.hpp>

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() {
    Gps gps(GPS_PORT);
 while(true) {
    double accel_z = gps.get_accel_z();
    printf("accel_z: %f\n", accel_z);
    pros::delay(20);
 }
}

static Gps get_gps()

#include <pros/gps.hpp>

Gets a gps sensor that is plugged in to the brain.

This functions uses the following values of errno when an error state is reached: ENODEV - No gps sensor is plugged into the brain