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1 files changed, 0 insertions, 1553 deletions
diff --git a/Nate's Position Testing/Shooter Testing/include/API.h b/Nate's Position Testing/Shooter Testing/include/API.h deleted file mode 100644 index 7de7889..0000000 --- a/Nate's Position Testing/Shooter Testing/include/API.h +++ /dev/null @@ -1,1553 +0,0 @@ -/** @file API.h
- * @brief Provides the high-level user functionality intended for use by typical VEX Cortex
- * programmers.
- *
- * This file should be included for you in the predefined stubs in each new VEX Cortex PROS
- * project through the inclusion of "main.h". In any new C source file, it is advisable to
- * include main.h instead of referencing API.h by name, to better handle any nomenclature
- * changes to this file or its contents.
- *
- * Copyright (c) 2011-2014, Purdue University ACM SIG BOTS.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * * Neither the name of Purdue University ACM SIG BOTS nor the
- * names of its contributors may be used to endorse or promote products
- * derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL PURDUE UNIVERSITY ACM SIG BOTS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- * Purdue Robotics OS contains FreeRTOS (http://www.freertos.org) whose source code may be
- * obtained from http://sourceforge.net/projects/freertos/files/ or on request.
- */
-
-#ifndef API_H_
-#define API_H_
-
-// System includes
-#include <stdlib.h>
-#include <stdbool.h>
-#include <stdarg.h>
-
-// Begin C++ extern to C
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// -------------------- VEX competition functions --------------------
-
-/**
- * DOWN button (valid on channels 5, 6, 7, 8)
- */
-#define JOY_DOWN 1
-/**
- * LEFT button (valid on channels 7, 8)
- */
-#define JOY_LEFT 2
-/**
- * UP button (valid on channels 5, 6, 7, 8)
- */
-#define JOY_UP 4
-/**
- * RIGHT button (valid on channels 7, 8)
- */
-#define JOY_RIGHT 8
-/**
- * Analog axis for the X acceleration from the VEX Joystick.
- */
-#define ACCEL_X 5
-/**
- * Analog axis for the Y acceleration from the VEX Joystick.
- */
-#define ACCEL_Y 6
-
-/**
- * Returns true if the robot is in autonomous mode, or false otherwise.
- *
- * While in autonomous mode, joystick inputs will return a neutral value, but serial port
- * communications (even over VexNET) will still work properly.
- */
-bool isAutonomous();
-/**
- * Returns true if the robot is enabled, or false otherwise.
- *
- * While disabled via the VEX Competition Switch or VEX Field Controller, motors will not
- * function. However, the digital I/O ports can still be changed, which may indirectly affect
- * the robot state (e.g. solenoids). Avoid performing externally visible actions while
- * disabled (the kernel should take care of this most of the time).
- */
-bool isEnabled();
-/**
- * Returns true if a joystick is connected to the specified slot number (1 or 2), or false
- * otherwise.
- *
- * Useful for automatically merging joysticks for one operator, or splitting for two. This
- * function does not work properly during initialize() or initializeIO() and can return false
- * positives. It should be checked once and stored at the beginning of operatorControl().
- *
- * @param joystick the joystick slot to check
- */
-bool isJoystickConnected(unsigned char joystick);
-/**
- * Returns true if a VEX field controller or competition switch is connected, or false
- * otherwise.
- *
- * When in online mode, the switching between autonomous() and operatorControl() tasks is
- * managed by the PROS kernel.
- */
-bool isOnline();
-/**
- * Gets the value of a control axis on the VEX joystick. Returns the value from -127 to 127,
- * or 0 if no joystick is connected to the requested slot.
- *
- * @param joystick the joystick slot to check
- * @param axis one of 1, 2, 3, 4, ACCEL_X, or ACCEL_Y
- */
-int joystickGetAnalog(unsigned char joystick, unsigned char axis);
-/**
- * Gets the value of a button on the VEX joystick. Returns true if that button is pressed, or
- * false otherwise. If no joystick is connected to the requested slot, returns false.
- *
- * @param joystick the joystick slot to check
- * @param buttonGroup one of 5, 6, 7, or 8 to request that button as labelled on the joystick
- * @param button one of JOY_UP, JOY_DOWN, JOY_LEFT, or JOY_RIGHT; requesting JOY_LEFT or
- * JOY_RIGHT for groups 5 or 6 will cause an undefined value to be returned
- */
-bool joystickGetDigital(unsigned char joystick, unsigned char buttonGroup,
- unsigned char button);
-/**
- * Returns the backup battery voltage in millivolts.
- *
- * If no backup battery is connected, returns 0.
- */
-unsigned int powerLevelBackup();
-/**
- * Returns the main battery voltage in millivolts.
- *
- * In rare circumstances, this method might return 0. Check the output value for reasonability
- * before blindly blasting the user.
- */
-unsigned int powerLevelMain();
-/**
- * Sets the team name displayed to the VEX field control and VEX Firmware Upgrade.
- *
- * @param name a string containing the team name; only the first eight characters will be shown
- */
-void setTeamName(const char *name);
-
-// -------------------- Pin control functions --------------------
-
-/**
- * There are 8 available analog I/O on the Cortex.
- */
-#define BOARD_NR_ADC_PINS 8
-/**
- * There are 27 available I/O on the Cortex that can be used for digital communication.
- *
- * This excludes the crystal ports but includes the Communications, Speaker, and Analog ports.
- *
- * The motor ports are not on the Cortex and are thus excluded from this count. Pin 0 is the
- * Speaker port, pins 1-12 are the standard Digital I/O, 13-20 are the Analog I/O, 21+22 are
- * UART1, 23+24 are UART2, and 25+26 are the I2C port.
- */
-#define BOARD_NR_GPIO_PINS 27
-/**
- * Used for digitalWrite() to specify a logic HIGH state to output.
- *
- * In reality, using any non-zero expression or "true" will work to set a pin to HIGH.
- */
-#define HIGH 1
-/**
- * Used for digitalWrite() to specify a logic LOW state to output.
- *
- * In reality, using a zero expression or "false" will work to set a pin to LOW.
- */
-#define LOW 0
-
-/**
- * pinMode() state for digital input, with pullup.
- *
- * This is the default state for the 12 Digital pins. The pullup causes the input to read as
- * "HIGH" when unplugged, but is fairly weak and can safely be driven by most sources. Many VEX
- * digital sensors rely on this behavior and cannot be used with INPUT_FLOATING.
- */
-#define INPUT 0x0A
-/**
- * pinMode() state for analog inputs.
- *
- * This is the default state for the 8 Analog pins and the Speaker port. This only works on
- * pins with analog input capabilities; use anywhere else results in undefined behavior.
- */
-#define INPUT_ANALOG 0x00
-/**
- * pinMode() state for digital input, without pullup.
- *
- * Beware of power consumption, as digital inputs left "floating" may switch back and forth
- * and cause spurious interrupts.
- */
-#define INPUT_FLOATING 0x04
-/**
- * pinMode() state for digital output, push-pull.
- *
- * This is the mode which should be used to output a digital HIGH or LOW value from the Cortex.
- * This mode is useful for pneumatic solenoid valves and VEX LEDs.
- */
-#define OUTPUT 0x01
-/**
- * pinMode() state for open-drain outputs.
- *
- * This is useful in a few cases for external electronics and should not be used for the VEX
- * solenoid or LEDs.
- */
-#define OUTPUT_OD 0x05
-
-/**
- * Calibrates the analog sensor on the specified channel.
- *
- * This method assumes that the true sensor value is not actively changing at this time and
- * computes an average from approximately 500 samples, 1 ms apart, for a 0.5 s period of
- * calibration. The average value thus calculated is returned and stored for later calls to the
- * analogReadCalibrated() and analogReadCalibratedHR() functions. These functions will return
- * the difference between this value and the current sensor value when called.
- *
- * Do not use this function in initializeIO(), or when the sensor value might be unstable
- * (gyro rotation, accelerometer movement).
- *
- * This function may not work properly if the VEX Cortex is tethered to a PC using the orange
- * USB A to A cable and has no VEX 7.2V Battery connected and powered on, as the VEX Battery
- * provides power to sensors.
- *
- * @param channel the channel to calibrate from 1-8
- * @return the average sensor value computed by this function
- */
-int analogCalibrate(unsigned char channel);
-/**
- * Reads an analog input channel and returns the 12-bit value.
- *
- * The value returned is undefined if the analog pin has been switched to a different mode.
- * This function is Wiring-compatible with the exception of the larger output range. The
- * meaning of the returned value varies depending on the sensor attached.
- *
- * This function may not work properly if the VEX Cortex is tethered to a PC using the orange
- * USB A to A cable and has no VEX 7.2V Battery connected and powered on, as the VEX Battery
- * provides power to sensors.
- *
- * @param channel the channel to read from 1-8
- * @return the analog sensor value, where a value of 0 reflects an input voltage of nearly 0 V
- * and a value of 4095 reflects an input voltage of nearly 5 V
- */
-int analogRead(unsigned char channel);
-/**
- * Reads the calibrated value of an analog input channel.
- *
- * The analogCalibrate() function must be run first on that channel. This function is
- * inappropriate for sensor values intended for integration, as round-off error can accumulate
- * causing drift over time. Use analogReadCalibratedHR() instead.
- *
- * This function may not work properly if the VEX Cortex is tethered to a PC using the orange
- * USB A to A cable and has no VEX 7.2V Battery connected and powered on, as the VEX Battery
- * provides power to sensors.
- *
- * @param channel the channel to read from 1-8
- * @return the difference of the sensor value from its calibrated default from -4095 to 4095
- */
-int analogReadCalibrated(unsigned char channel);
-/**
- * Reads the calibrated value of an analog input channel 1-8 with enhanced precision.
- *
- * The analogCalibrate() function must be run first. This is intended for integrated sensor
- * values such as gyros and accelerometers to reduce drift due to round-off, and should not be
- * used on a sensor such as a line tracker or potentiometer.
- *
- * The value returned actually has 16 bits of "precision", even though the ADC only reads
- * 12 bits, so that errors induced by the average value being between two values come out
- * in the wash when integrated over time. Think of the value as the true value times 16.
- *
- * This function may not work properly if the VEX Cortex is tethered to a PC using the orange
- * USB A to A cable and has no VEX 7.2V Battery connected and powered on, as the VEX Battery
- * provides power to sensors.
- *
- * @param channel the channel to read from 1-8
- * @return the difference of the sensor value from its calibrated default from -16384 to 16384
- */
-int analogReadCalibratedHR(unsigned char channel);
-/**
- * Gets the digital value (1 or 0) of a pin configured as a digital input.
- *
- * If the pin is configured as some other mode, the digital value which reflects the current
- * state of the pin is returned, which may or may not differ from the currently set value. The
- * return value is undefined for pins configured as Analog inputs, or for ports in use by a
- * Communications interface. This function is Wiring-compatible.
- *
- * This function may not work properly if the VEX Cortex is tethered to a PC using the orange
- * USB A to A cable and has no VEX 7.2V Battery connected and powered on, as the VEX Battery
- * provides power to sensors.
- *
- * @param pin the pin to read from 1-26
- * @return true if the pin is HIGH, or false if it is LOW
- */
-bool digitalRead(unsigned char pin);
-/**
- * Sets the digital value (1 or 0) of a pin configured as a digital output.
- *
- * If the pin is configured as some other mode, behavior is undefined. This function is
- * Wiring-compatible.
- *
- * @param pin the pin to write from 1-26
- * @param value an expression evaluating to "true" or "false" to set the output to HIGH or LOW
- * respectively, or the constants HIGH or LOW themselves
- */
-void digitalWrite(unsigned char pin, bool value);
-/**
- * Configures the pin as an input or output with a variety of settings.
- *
- * Do note that INPUT by default turns on the pull-up resistor, as most VEX sensors are
- * open-drain active low. It should not be a big deal for most push-pull sources. This function
- * is Wiring-compatible.
- *
- * @param pin the pin to modify from 1-26
- * @param mode one of INPUT, INPUT_ANALOG, INPUT_FLOATING, OUTPUT, or OUTPUT_OD
- */
-void pinMode(unsigned char pin, unsigned char mode);
-
-/*
- * Digital port 10 cannot be used as an interrupt port, or for an encoder. Plan accordingly.
- */
-
-/**
- * When used in ioSetInterrupt(), triggers an interrupt on rising edges (LOW to HIGH).
- */
-#define INTERRUPT_EDGE_RISING 1
-/**
- * When used in ioSetInterrupt(), triggers an interrupt on falling edges (HIGH to LOW).
- */
-#define INTERRUPT_EDGE_FALLING 2
-/**
- * When used in ioSetInterrupt(), triggers an interrupt on both rising and falling edges
- * (LOW to HIGH or HIGH to LOW).
- */
-#define INTERRUPT_EDGE_BOTH 3
-/**
- * Type definition for interrupt handlers. Such functions must accept one argument indicating
- * the pin which changed.
- */
-typedef void (*InterruptHandler)(unsigned char pin);
-
-/**
- * Disables interrupts on the specified pin.
- *
- * Disabling interrupts on interrupt pins which are not in use conserves processing time.
- *
- * @param pin the pin on which to reset interrupts from 1-9,11-12
- */
-void ioClearInterrupt(unsigned char pin);
-/**
- * Sets up an interrupt to occur on the specified pin, and resets any counters or timers
- * associated with the pin.
- *
- * Each time the specified change occurs, the function pointer passed in will be called with
- * the pin that changed as an argument. Enabling pin-change interrupts consumes processing
- * time, so it is best to only enable necessary interrupts and to keep the InterruptHandler
- * function short. Pin change interrupts can only be enabled on pins 1-9 and 11-12.
- *
- * Do not use API functions such as delay() inside the handler function, as the function will
- * run in an ISR where the scheduler is paused and no other interrupts can execute. It is best
- * to quickly update some state and allow a task to perform the work.
- *
- * Do not use this function on pins that are also being used by the built-in ultrasonic or
- * shaft encoder drivers, or on pins which have been switched to output mode.
- *
- * @param pin the pin on which to enable interrupts from 1-9,11-12
- * @param edges one of INTERRUPT_EDGE_RISING, INTERRUPT_EDGE_FALLING, or INTERRUPT_EDGE_BOTH
- * @param handler the function to call when the condition is satisfied
- */
-void ioSetInterrupt(unsigned char pin, unsigned char edges, InterruptHandler handler);
-
-// -------------------- Physical output control functions --------------------
-
-/**
- * Gets the last set speed of the specified motor channel.
- *
- * This speed may have been set by any task or the PROS kernel itself. This is not guaranteed
- * to be the speed that the motor is actually running at, or even the speed currently being
- * sent to the motor, due to latency in the Motor Controller 29 protocol and physical loading.
- * To measure actual motor shaft revolution speed, attach a VEX Integrated Motor Encoder or
- * VEX Quadrature Encoder and use the velocity functions associated with each.
- *
- * @param channel the motor channel to fetch from 1-10
- * @return the speed last sent to this channel; -127 is full reverse and 127 is full forward,
- * with 0 being off
- */
-int motorGet(unsigned char channel);
-/**
- * Sets the speed of the specified motor channel.
- *
- * Do not use motorSet() with the same channel argument from two different tasks. It is safe to
- * use motorSet() with different channel arguments from different tasks.
- *
- * @param channel the motor channel to modify from 1-10
- * @param speed the new signed speed; -127 is full reverse and 127 is full forward, with 0
- * being off
- */
-void motorSet(unsigned char channel, int speed);
-/**
- * Stops the motor on the specified channel, equivalent to calling motorSet() with an argument
- * of zero.
- *
- * This performs a coasting stop, not an active brake. Since motorStop is similar to
- * motorSet(0), see the note for motorSet() about use from multiple tasks.
- *
- * @param channel the motor channel to stop from 1-10
- */
-void motorStop(unsigned char channel);
-/**
- * Stops all motors; significantly faster than looping through all motor ports and calling
- * motorSet(channel, 0) on each one.
- */
-void motorStopAll();
-
-/**
- * Initializes VEX speaker support.
- *
- * The VEX speaker is not thread safe; it can only be used from one task at a time. Using the
- * VEX speaker may impact robot performance. Teams may benefit from an if statement that only
- * enables sound if isOnline() returns false.
- */
-void speakerInit();
-/**
- * Plays up to three RTTTL (Ring Tone Text Transfer Language) songs simultaneously over the
- * VEX speaker. The audio is mixed to allow polyphonic sound to be played. Many simple songs
- * are available in RTTTL format online, or compose your own.
- *
- * The song must not be NULL, but unused tracks within the song can be set to NULL. If any of
- * the three song tracks is invalid, the result of this function is undefined.
- *
- * The VEX speaker is not thread safe; it can only be used from one task at a time. Using the
- * VEX speaker may impact robot performance. Teams may benefit from an if statement that only
- * enables sound if isOnline() returns false.
- *
- * @param songs an array of up to three (3) RTTTL songs as string values to play
- */
-void speakerPlayArray(const char * * songs);
-/**
- * Plays an RTTTL (Ring Tone Text Transfer Language) song over the VEX speaker. Many simple
- * songs are available in RTTTL format online, or compose your own.
- *
- * The song must not be NULL. If an invalid song is specified, the result of this function is
- * undefined.
- *
- * The VEX speaker is not thread safe; it can only be used from one task at a time. Using the
- * VEX speaker may impact robot performance. Teams may benefit from an if statement that only
- * enables sound if isOnline() returns false.
- *
- * @param song the RTTTL song as a string value to play
- */
-void speakerPlayRtttl(const char *song);
-/**
- * Powers down and disables the VEX speaker.
- *
- * If a song is currently being played in another task, the behavior of this function is
- * undefined, since the VEX speaker is not thread safe.
- */
-void speakerShutdown();
-
-// -------------------- VEX sensor control functions --------------------
-
-/**
- * IME addresses end at 0x1F. Actually using more than 10 (address 0x1A) encoders will cause
- * unreliable communications.
- */
-#define IME_ADDR_MAX 0x1F
-
-/**
- * Initializes all IMEs.
- *
- * IMEs are assigned sequential incrementing addresses, beginning with the first IME on the
- * chain (closest to the VEX Cortex I2C port). Therefore, a given configuration of IMEs will
- * always have the same ID assigned to each encoder. The addresses range from 0 to
- * IME_ADDR_MAX, so the first encoder gets 0, the second gets 1, ...
- *
- * This function should most likely be used in initialize(). Do not use it in initializeIO() or
- * at any other time when the scheduler is paused (like an interrupt). Checking the return
- * value of this function is important to ensure that all IMEs are plugged in and responding as
- * expected.
- *
- * This function, unlike the other IME functions, is not thread safe. If using imeInitializeAll
- * to re-initialize encoders, calls to other IME functions might behave unpredictably during
- * this function's execution.
- *
- * @return the number of IMEs successfully initialized.
- */
-unsigned int imeInitializeAll();
-/**
- * Gets the current 32-bit count of the specified IME.
- *
- * Much like the count for a quadrature encoder, the tick count is signed and cumulative.
- * The value reflects total counts since the last reset. Different VEX Motor Encoders have a
- * different number of counts per revolution:
- *
- * * \c 240.448 for the 269 IME
- * * \c 627.2 for the 393 IME in high torque mode (factory default)
- * * \c 392 for the 393 IME in high speed mode
- *
- * If the IME address is invalid, or the IME has not been reset or initialized, the value
- * stored in *value is undefined.
- *
- * @param address the IME address to fetch from 0 to IME_ADDR_MAX
- * @param value a pointer to the location where the value will be stored (obtained using the
- * "&" operator on the target variable name e.g. <code>imeGet(2, &counts)</code>)
- * @return true if the count was successfully read and the value stored in *value is valid;
- * false otherwise
- */
-bool imeGet(unsigned char address, int *value);
-/**
- * Gets the current rotational velocity of the specified IME.
- *
- * In this version of PROS, the velocity is positive if the IME count is increasing and
- * negative if the IME count is decreasing. The velocity is in RPM of the internal encoder
- * wheel. Since checking the IME for its type cannot reveal whether the motor gearing is
- * high speed or high torque (in the 2-Wire Motor 393 case), the user must divide the return
- * value by the number of output revolutions per encoder revolution:
- *
- * * \c 30.056 for the 269 IME
- * * \c 39.2 for the 393 IME in high torque mode (factory default)
- * * \c 24.5 for the 393 IME in high speed mode
- *
- * If the IME address is invalid, or the IME has not been reset or initialized, the value
- * stored in *value is undefined.
- *
- * @param address the IME address to fetch from 0 to IME_ADDR_MAX
- * @param value a pointer to the location where the value will be stored (obtained using the
- * "&" operator on the target variable name e.g. <code>imeGetVelocity(2, &counts)</code>)
- * @return true if the velocity was successfully read and the value stored in *value is valid;
- * false otherwise
- */
-bool imeGetVelocity(unsigned char address, int *value);
-/**
- * Resets the specified IME's counters to zero.
- *
- * This method can be used while the IME is rotating.
- *
- * @param address the IME address to reset from 0 to IME_ADDR_MAX
- * @return true if the reset succeeded; false otherwise
- */
-bool imeReset(unsigned char address);
-/**
- * Shuts down all IMEs on the chain; their addresses return to the default and the stored
- * counts and velocities are lost. This function, unlike the other IME functions, is not
- * thread safe.
- *
- * To use the IME chain again, wait at least 0.25 seconds before using imeInitializeAll again.
- */
-void imeShutdown();
-
-/**
- * Reference type for an initialized gyro.
- *
- * Gyro information is stored as an opaque pointer to a structure in memory; as this is a
- * pointer type, it can be safely passed or stored by value.
- */
-typedef void * Gyro;
-
-/**
- * Gets the current gyro angle in degrees, rounded to the nearest degree.
- *
- * There are 360 degrees in a circle.
- *
- * @param gyro the Gyro object from gyroInit() to read
- * @return the signed and cumulative number of degrees rotated around the gyro's vertical axis
- * since the last start or reset
- */
-int gyroGet(Gyro gyro);
-/**
- * Initializes and enables a gyro on an analog port.
- *
- * NULL will be returned if the port is invalid or the gyro is already in use. Initializing a
- * gyro implicitly calibrates it and resets its count. Do not move the robot while the gyro is
- * being calibrated. It is suggested to call this function in initialize() and to place the
- * robot in its final position before powering it on.
- *
- * The multiplier parameter can tune the gyro to adapt to specific sensors. The default value
- * at this time is 196; higher values will increase the number of degrees reported for a fixed
- * actual rotation, while lower values will decrease the number of degrees reported. If your
- * robot is consistently turning too far, increase the multiplier, and if it is not turning
- * far enough, decrease the multiplier.
- *
- * @param port the analog port to use from 1-8
- * @param multiplier an optional constant to tune the gyro readings; use 0 for the default
- * value
- * @return a Gyro object to be stored and used for later calls to gyro functions
- */
-Gyro gyroInit(unsigned char port, unsigned short multiplier);
-/**
- * Resets the gyro to zero.
- *
- * It is safe to use this method while a gyro is enabled. It is not necessary to call this
- * method before stopping or starting a gyro.
- *
- * @param gyro the Gyro object from gyroInit() to reset
- */
-void gyroReset(Gyro gyro);
-/**
- * Stops and disables the gyro.
- *
- * Gyros use processing power, so disabling unused gyros increases code performance.
- * The gyro's position will be retained.
- *
- * @param gyro the Gyro object from gyroInit() to stop
- */
-void gyroShutdown(Gyro gyro);
-
-/**
- * Reference type for an initialized encoder.
- *
- * Encoder information is stored as an opaque pointer to a structure in memory; as this is a
- * pointer type, it can be safely passed or stored by value.
- */
-typedef void * Encoder;
-/**
- * Gets the number of ticks recorded by the encoder.
- *
- * There are 360 ticks in one revolution.
- *
- * @param enc the Encoder object from encoderInit() to read
- * @return the signed and cumulative number of counts since the last start or reset
- */
-int encoderGet(Encoder enc);
-/**
- * Initializes and enables a quadrature encoder on two digital ports.
- *
- * Neither the top port nor the bottom port can be digital port 10. NULL will be returned if
- * either port is invalid or the encoder is already in use. Initializing an encoder implicitly
- * resets its count.
- *
- * @param portTop the "top" wire from the encoder sensor with the removable cover side UP
- * @param portBottom the "bottom" wire from the encoder sensor
- * @param reverse if "true", the sensor will count in the opposite direction
- * @return an Encoder object to be stored and used for later calls to encoder functions
- */
-Encoder encoderInit(unsigned char portTop, unsigned char portBottom, bool reverse);
-/**
- * Resets the encoder to zero.
- *
- * It is safe to use this method while an encoder is enabled. It is not necessary to call this
- * method before stopping or starting an encoder.
- *
- * @param enc the Encoder object from encoderInit() to reset
- */
-void encoderReset(Encoder enc);
-/**
- * Stops and disables the encoder.
- *
- * Encoders use processing power, so disabling unused encoders increases code performance.
- * The encoder's count will be retained.
- *
- * @param enc the Encoder object from encoderInit() to stop
- */
-void encoderShutdown(Encoder enc);
-
-/**
- * Reference type for an initialized ultrasonic sensor.
- *
- * Ultrasonic information is stored as an opaque pointer to a structure in memory; as this is a
- * pointer type, it can be safely passed or stored by value.
- */
-typedef void * Ultrasonic;
-/**
- * Gets the current ultrasonic sensor value in centimeters.
- *
- * If no object was found, zero is returned. If the ultrasonic sensor was never started, the
- * return value is undefined. Round and fluffy objects can cause inaccurate values to be
- * returned.
- *
- * @param ult the Ultrasonic object from ultrasonicInit() to read
- * @return the distance to the nearest object in centimeters
- */
-int ultrasonicGet(Ultrasonic ult);
-/**
- * Initializes an ultrasonic sensor on the specified digital ports.
- *
- * The ultrasonic sensor will be polled in the background in concert with the other sensors
- * registered using this method. NULL will be returned if either port is invalid or the
- * ultrasonic sensor port is already in use.
- *
- * @param portEcho the port connected to the orange cable from 1-9,11-12
- * @param portPing the port connected to the yellow cable from 1-12
- * @return an Ultrasonic object to be stored and used for later calls to ultrasonic functions
- */
-Ultrasonic ultrasonicInit(unsigned char portEcho, unsigned char portPing);
-/**
- * Stops and disables the ultrasonic sensor.
- *
- * The last distance it had before stopping will be retained. One more ping operation may occur
- * before the sensor is fully disabled.
- *
- * @param ult the Ultrasonic object from ultrasonicInit() to stop
- */
-void ultrasonicShutdown(Ultrasonic ult);
-
-/**
- * FILE is an integer referring to a stream for the standard I/O functions.
- *
- * FILE * is the standard library method of referring to a file pointer, even though there is
- * actually nothing there.
- */
-typedef int FILE;
-/**
- * Bit mask for usartInit() for 8 data bits (typical)
- */
-#define SERIAL_DATABITS_8 0x0000
-/**
- * Bit mask for usartInit() for 9 data bits
- */
-#define SERIAL_DATABITS_9 0x1000
-/**
- * Bit mask for usartInit() for 1 stop bit (typical)
- */
-#define SERIAL_STOPBITS_1 0x0000
-/**
- * Bit mask for usartInit() for 2 stop bits
- */
-#define SERIAL_STOPBITS_2 0x2000
-/**
- * Bit mask for usartInit() for No parity (typical)
- */
-#define SERIAL_PARITY_NONE 0x0000
-/**
- * Bit mask for usartInit() for Even parity
- */
-#define SERIAL_PARITY_EVEN 0x0400
-/**
- * Bit mask for usartInit() for Odd parity
- */
-#define SERIAL_PARITY_ODD 0x0600
-/**
- * Specifies the default serial settings when used in usartInit()
- */
-#define SERIAL_8N1 0x0000
-
-/**
- * Initialize the specified serial interface with the given connection parameters.
- *
- * I/O to the port is accomplished using the "standard" I/O functions such as fputs(),
- * fprintf(), and fputc().
- *
- * Re-initializing an open port may cause loss of data in the buffers. This routine may be
- * safely called from initializeIO() or when the scheduler is paused. If I/O is attempted on a
- * serial port which has never been opened, the behavior will be the same as if the port had
- * been disabled.
- *
- * @param usart the port to open, either "uart1" or "uart2"
- * @param baud the baud rate to use from 2400 to 1000000 baud
- * @param flags a bit mask combination of the SERIAL_* flags specifying parity, stop, and data
- * bits
- */
-void usartInit(FILE *usart, unsigned int baud, unsigned int flags);
-/**
- * Disables the specified USART interface.
- *
- * Any data in the transmit and receive buffers will be lost. Attempts to read from the port
- * when it is disabled will deadlock, and attempts to write to it may deadlock depending on
- * the state of the buffer.
- *
- * @param usart the port to close, either "uart1" or "uart2"
- */
-void usartShutdown(FILE *usart);
-
-// -------------------- Character input and output --------------------
-
-/**
- * The standard output stream uses the PC debug terminal.
- */
-#define stdout ((FILE *)3)
-/**
- * The standard input stream uses the PC debug terminal.
- */
-#define stdin ((FILE *)3)
-/**
- * UART 1 on the Cortex; must be opened first using usartInit().
- */
-#define uart1 ((FILE *)1)
-/**
- * UART 2 on the Cortex; must be opened first using usartInit().
- */
-#define uart2 ((FILE *)2)
-
-#ifndef EOF
-/**
- * EOF is a value evaluating to -1.
- */
-#define EOF ((int)-1)
-#endif
-
-#ifndef SEEK_SET
-/**
- * SEEK_SET is used in fseek() to denote an absolute position in bytes from the start of the
- * file.
- */
-#define SEEK_SET 0
-#endif
-#ifndef SEEK_CUR
-/**
- * SEEK_CUR is used in fseek() to denote an relative position in bytes from the current file
- * location.
- */
-#define SEEK_CUR 1
-#endif
-#ifndef SEEK_END
-/**
- * SEEK_END is used in fseek() to denote an absolute position in bytes from the end of the
- * file. The offset will most likely be negative in this case.
- */
-#define SEEK_END 2
-#endif
-
-/**
- * Closes the specified file descriptor. This function does not work on communication ports;
- * use usartShutdown() instead.
- *
- * @param stream the file descriptor to close from fopen()
- */
-void fclose(FILE *stream);
-/**
- * Returns the number of characters that can be read without blocking (the number of
- * characters available) from the specified stream. This only works for communication ports and
- * files in Read mode; for files in Write mode, 0 is always returned.
- *
- * This function may underestimate, but will not overestimate, the number of characters which
- * meet this criterion.
- *
- * @param stream the stream to read (stdin, uart1, uart2, or an open file in Read mode)
- * @return the number of characters which meet this criterion; if this number cannot be
- * determined, returns 0
- */
-int fcount(FILE *stream);
-/**
- * Delete the specified file if it exists and is not currently open.
- *
- * The file will actually be erased from memory on the next re-boot. A physical power cycle is
- * required to purge deleted files and free their allocated space for new files to be written.
- * Deleted files are still considered inaccessible to fopen() in Read mode.
- *
- * @param file the file name to erase
- * @return 0 if the file was deleted, or 1 if the file could not be found
- */
-int fdelete(const char *file);
-/**
- * Checks to see if the specified stream is at its end. This only works for communication ports
- * and files in Read mode; for files in Write mode, 1 is always returned.
- *
- * @param stream the channel to check (stdin, uart1, uart2, or an open file in Read mode)
- * @return 0 if the stream is not at EOF, or 1 otherwise.
- */
-int feof(FILE *stream);
-/**
- * Flushes the data on the specified file channel open in Write mode. This function has no
- * effect on a communication port or a file in Read mode, as these streams are always flushed as
- * quickly as possible by the kernel.
- *
- * Successful completion of an fflush function on a file in Write mode cannot guarantee that
- * the file is vaild until fclose() is used on that file descriptor.
- *
- * @param stream the channel to flush (an open file in Write mode)
- * @return 0 if the data was successfully flushed, EOF otherwise
- */
-int fflush(FILE *stream);
-/**
- * Reads and returns one character from the specified stream, blocking until complete.
- *
- * Do not use fgetc() on a VEX LCD port; deadlock may occur.
- *
- * @param stream the stream to read (stdin, uart1, uart2, or an open file in Read mode)
- * @return the next character from 0 to 255, or -1 if no character can be read
- */
-int fgetc(FILE *stream);
-/**
- * Reads a string from the specified stream, storing the characters into the memory at str.
- * Characters will be read until the specified limit is reached, a new line is found, or the
- * end of file is reached.
- *
- * If the stream is already at end of file (for files in Read mode), NULL will be returned;
- * otherwise, at least one character will be read and stored into str.
- *
- * @param str the location where the characters read will be stored
- * @param num the maximum number of characters to store; at most (num - 1) characters will be
- * read, with a null terminator ('\0') automatically appended
- * @param stream the channel to read (stdin, uart1, uart2, or an open file in Read mode)
- * @return str, or NULL if zero characters could be read
- */
-char* fgets(char *str, int num, FILE *stream);
-/**
- * Opens the given file in the specified mode. The file name is truncated to eight characters.
- * Only four files can be in use simultaneously in any given time, with at most one of those
- * files in Write mode. This function does not work on communication ports; use usartInit()
- * instead.
- *
- * mode can be "r" or "w". Due to the nature of the VEX Cortex memory, the "r+", "w+", and "a"
- * modes are not supported by the file system.
- *
- * Opening a file that does not exist in Read mode will fail and return NULL, but opening a new
- * file in Write mode will create it if there is space. Opening a file that already exists in
- * Write mode will destroy the contents and create a new blank file if space is available.
- *
- * There are important considerations when using of the file system on the VEX Cortex. Reading
- * from files is safe, but writing to files should only be performed when robot actuators have
- * been stopped. PROS will attempt to continue to handle events during file writes, but most
- * user tasks cannot execute during file writing. Powering down the VEX Cortex mid-write may
- * cause file system corruption.
- *
- * @param file the file name
- * @param mode the file mode
- * @return a file descriptor pointing to the new file, or NULL if the file could not be opened
- */
-FILE * fopen(const char *file, const char *mode);
-/**
- * Prints the simple string to the specified stream.
- *
- * This method is much, much faster than fprintf() and does not add a new line like fputs().
- * Do not use fprint() on a VEX LCD port. Use lcdSetText() instead.
- *
- * @param string the string to write
- * @param stream the stream to write (stdout, uart1, uart2, or an open file in Write mode)
- */
-void fprint(const char *string, FILE *stream);
-/**
- * Writes one character to the specified stream.
- *
- * Do not use fputc() on a VEX LCD port. Use lcdSetText() instead.
- *
- * @param value the character to write (a value of type "char" can be used)
- * @param stream the stream to write (stdout, uart1, uart2, or an open file in Write mode)
- * @return the character written
- */
-int fputc(int value, FILE *stream);
-/**
- * Behaves the same as the "fprint" function, and appends a trailing newline ("\n").
- *
- * Do not use fputs() on a VEX LCD port. Use lcdSetText() instead.
- *
- * @param string the string to write
- * @param stream the stream to write (stdout, uart1, uart2, or an open file in Write mode)
- * @return the number of characters written, excluding the new line
- */
-int fputs(const char *string, FILE *stream);
-/**
- * Reads data from a stream into memory. Returns the number of bytes thus read.
- *
- * If the memory at ptr cannot store (size * count) bytes, undefined behavior occurs.
- *
- * @param ptr a pointer to where the data will be stored
- * @param size the size of each data element to read in bytes
- * @param count the number of data elements to read
- * @param stream the stream to read (stdout, uart1, uart2, or an open file in Read mode)
- * @return the number of bytes successfully read
- */
-size_t fread(void *ptr, size_t size, size_t count, FILE *stream);
-/**
- * Seeks within a file open in Read mode. This function will fail when used on a file in Write
- * mode or on any communications port.
- *
- * @param stream the stream to seek within
- * @param offset the location within the stream to seek
- * @param origin the reference location for offset: SEEK_CUR, SEEK_SET, or SEEK_END
- * @return 0 if the seek was successful, or 1 otherwise
- */
-int fseek(FILE *stream, long int offset, int origin);
-/**
- * Returns the current position of the stream. This function works on files in either Read or
- * Write mode, but will fail on communications ports.
- *
- * @param stream the stream to check
- * @return the offset of the stream, or -1 if the offset could not be determined
- */
-long int ftell(FILE *stream);
-/**
- * Writes data from memory to a stream. Returns the number of bytes thus written.
- *
- * If the memory at ptr is not as long as (size * count) bytes, undefined behavior occurs.
- *
- * @param ptr a pointer to the data to write
- * @param size the size of each data element to write in bytes
- * @param count the number of data elements to write
- * @param stream the stream to write (stdout, uart1, uart2, or an open file in Write mode)
- * @return the number of bytes successfully written
- */
-size_t fwrite(const void *ptr, size_t size, size_t count, FILE *stream);
-/**
- * Reads and returns one character from "stdin", which is the PC debug terminal.
- *
- * @return the next character from 0 to 255, or -1 if no character can be read
- */
-int getchar();
-/**
- * Prints the simple string to the debug terminal without formatting.
- *
- * This method is much, much faster than printf().
- *
- * @param string the string to write
- */
-void print(const char *string);
-/**
- * Writes one character to "stdout", which is the PC debug terminal, and returns the input
- * value.
- *
- * When using a wireless connection, one may need to press the spacebar before the input is
- * visible on the terminal.
- *
- * @param value the character to write (a value of type "char" can be used)
- * @return the character written
- */
-int putchar(int value);
-/**
- * Behaves the same as the "print" function, and appends a trailing newline ("\n").
- *
- * @param string the string to write
- * @return the number of characters written, excluding the new line
- */
-int puts(const char *string);
-
-/**
- * Prints the formatted string to the specified output stream.
- *
- * The specifiers supported by this minimalistic printf() function are:
- * * @c \%d: Signed integer in base 10 (int)
- * * @c \%u: Unsigned integer in base 10 (unsigned int)
- * * @c \%x, @c \%X: Integer in base 16 (unsigned int, int)
- * * @c \%p: Pointer (void *, int *, ...)
- * * @c \%c: Character (char)
- * * @c \%s: Null-terminated string (char *)
- * * @c \%%: Single literal percent sign
- * * @c \%f: Floating-point number
- *
- * Specifiers can be modified with:
- * * @c 0: Zero-pad, instead of space-pad
- * * @c a.b: Make the field at least "a" characters wide. If "b" is specified for "%f", changes the
- * number of digits after the decimal point
- * * @c -: Left-align, instead of right-align
- * * @c +: Always display the sign character (displays a leading "+" for positive numbers)
- * * @c l: Ignored for compatibility
- *
- * Invalid format specifiers, or mismatched parameters to specifiers, cause undefined behavior.
- * Other characters are written out verbatim. Do not use fprintf() on a VEX LCD port.
- * Use lcdPrint() instead.
- *
- * @param stream the stream to write (stdout, uart1, or uart2)
- * @param formatString the format string as specified above
- * @return the number of characters written
- */
-int fprintf(FILE *stream, const char *formatString, ...);
-/**
- * Prints the formatted string to the debug stream (the PC terminal).
- *
- * @param formatString the format string as specified in fprintf()
- * @return the number of characters written
- */
-int printf(const char *formatString, ...);
-/**
- * Prints the formatted string to the string buffer with the specified length limit.
- *
- * The length limit, as per the C standard, includes the trailing null character, so an
- * argument of 256 will cause a maximum of 255 non-null characters to be printed, and one null
- * terminator in all cases.
- *
- * @param buffer the string buffer where characters can be placed
- * @param limit the maximum number of characters to write
- * @param formatString the format string as specified in fprintf()
- * @return the number of characters stored
- */
-int snprintf(char *buffer, size_t limit, const char *formatString, ...);
-/**
- * Prints the formatted string to the string buffer.
- *
- * If the buffer is not big enough to contain the complete formatted output, undefined behavior
- * occurs. See snprintf() for a safer version of this function.
- *
- * @param buffer the string buffer where characters can be placed
- * @param formatString the format string as specified in fprintf()
- * @return the number of characters stored
- */
-int sprintf(char *buffer, const char *formatString, ...);
-
-/**
- * LEFT button on LCD for use with lcdReadButtons()
- */
-#define LCD_BTN_LEFT 1
-/**
- * CENTER button on LCD for use with lcdReadButtons()
- */
-#define LCD_BTN_CENTER 2
-/**
- * RIGHT button on LCD for use with lcdReadButtons()
- */
-#define LCD_BTN_RIGHT 4
-
-/**
- * Clears the LCD screen on the specified port.
- *
- * Printing to a line implicitly overwrites the contents, so clearing should only be required
- * at startup.
- *
- * @param lcdPort the LCD to clear, either uart1 or uart2
- */
-void lcdClear(FILE *lcdPort);
-/**
- * Initializes the LCD port, but does not change the text or settings.
- *
- * If the LCD was not initialized before, the text currently on the screen will be undefined.
- * The port will not be usable with standard serial port functions until the LCD is stopped.
- *
- * @param lcdPort the LCD to initialize, either uart1 or uart2
- */
-void lcdInit(FILE *lcdPort);
-/**
- * Prints the formatted string to the attached LCD.
- *
- * The output string will be truncated as necessary to fit on the LCD screen, 16 characters
- * wide. It is probably better to generate the string in a local buffer and use lcdSetText()
- * but this method is provided for convenience.
- *
- * @param lcdPort the LCD to write, either uart1 or uart2
- * @param line the LCD line to write, either 1 or 2
- * @param formatString the format string as specified in fprintf()
- */
-#ifdef DOXYGEN
-void lcdPrint(FILE *lcdPort, unsigned char line, const char *formatString, ...);
-#else
-void __attribute__ ((format (printf, 3, 4))) lcdPrint(FILE *lcdPort, unsigned char line,
- const char *formatString, ...);
-#endif
-/**
- * Reads the user button status from the LCD display.
- *
- * For example, if the left and right buttons are pushed, (1 | 4) = 5 will be returned. 0 is
- * returned if no buttons are pushed.
- *
- * @param lcdPort the LCD to poll, either uart1 or uart2
- * @return the buttons pressed as a bit mask
- */
-unsigned int lcdReadButtons(FILE *lcdPort);
-/**
- * Sets the specified LCD backlight to be on or off.
- *
- * Turning it off will save power but may make it more difficult to read in dim conditions.
- *
- * @param lcdPort the LCD to adjust, either uart1 or uart2
- * @param backlight true to turn the backlight on, or false to turn it off
- */
-void lcdSetBacklight(FILE *lcdPort, bool backlight);
-/**
- * Prints the string buffer to the attached LCD.
- *
- * The output string will be truncated as necessary to fit on the LCD screen, 16 characters
- * wide. This function, like fprint(), is much, much faster than a formatted routine such as
- * lcdPrint() and consumes less memory.
- *
- * @param lcdPort the LCD to write, either uart1 or uart2
- * @param line the LCD line to write, either 1 or 2
- * @param buffer the string to write
- */
-void lcdSetText(FILE *lcdPort, unsigned char line, const char *buffer);
-/**
- * Shut down the specified LCD port.
- *
- * @param lcdPort the LCD to stop, either uart1 or uart2
- */
-void lcdShutdown(FILE *lcdPort);
-
-// -------------------- Real-time scheduler functions --------------------
-/**
- * Only this many tasks can exist at once. Attempts to create further tasks will not succeed
- * until tasks end or are destroyed, AND the idle task cleans them up.
- *
- * Changing this value will not change the limit without a kernel recompile. The idle task
- * and VEX daemon task count against the limit. The user autonomous() or teleop() also counts
- * against the limit, so 12 tasks usually remain for other uses.
- */
-#define TASK_MAX 16
-/**
- * The maximum number of available task priorities, which run from 0 to 5.
- *
- * Changing this value will not change the priority count without a kernel recompile.
- */
-#define TASK_MAX_PRIORITIES 6
-/**
- * The lowest priority that can be assigned to a task, which puts it on a level with the idle
- * task. This may cause severe performance problems and is generally not recommended.
- */
-#define TASK_PRIORITY_LOWEST 0
-/**
- * The default task priority, which should be used for most tasks.
- *
- * Default tasks such as autonomous() inherit this priority.
- */
-#define TASK_PRIORITY_DEFAULT 2
-/**
- * The highest priority that can be assigned to a task. Unlike the lowest priority, this
- * priority can be safely used without hampering interrupts. Beware of deadlock.
- */
-#define TASK_PRIORITY_HIGHEST (TASK_MAX_PRIORITIES - 1)
-/**
- * The recommended stack size for a new task that does an average amount of work. This stack
- * size is used for default tasks such as autonomous().
- *
- * This is probably OK for 4-5 levels of function calls and the use of printf() with several
- * arguments. Tasks requiring deep recursion or large local buffers will need a bigger stack.
- */
-#define TASK_DEFAULT_STACK_SIZE 512
-/**
- * The minimum stack depth for a task. Scheduler state is stored on the stack, so even if the
- * task never uses the stack, at least this much space must be allocated.
- *
- * Function calls and other seemingly innocent constructs may place information on the stack.
- * Err on the side of a larger stack when possible.
- */
-#define TASK_MINIMAL_STACK_SIZE 64
-
-/**
- * Constant returned from taskGetState() when the task is dead or nonexistant.
- */
-#define TASK_DEAD 0
-/**
- * Constant returned from taskGetState() when the task is actively executing.
- */
-#define TASK_RUNNING 1
-/**
- * Constant returned from taskGetState() when the task is exists and is available to run, but
- * not currently running.
- */
-#define TASK_RUNNABLE 2
-/**
- * Constant returned from taskGetState() when the task is delayed or blocked waiting for a
- * semaphore, mutex, or I/O operation.
- */
-#define TASK_SLEEPING 3
-/**
- * Constant returned from taskGetState() when the task is suspended using taskSuspend().
- */
-#define TASK_SUSPENDED 4
-
-/**
- * Type by which tasks are referenced.
- *
- * As this is a pointer type, it can be safely passed or stored by value.
- */
-typedef void * TaskHandle;
-/**
- * Type by which mutexes are referenced.
- *
- * As this is a pointer type, it can be safely passed or stored by value.
- */
-typedef void * Mutex;
-/**
- * Type by which semaphores are referenced.
- *
- * As this is a pointer type, it can be safely passed or stored by value.
- */
-typedef void * Semaphore;
-/**
- * Type for defining task functions. Task functions must accept one parameter of type
- * "void *"; they need not use it.
- *
- * For example:
- *
- * void MyTask(void *ignore) {
- * while (1);
- * }
- */
-typedef void (*TaskCode)(void *);
-
-/**
- * Creates a new task and add it to the list of tasks that are ready to run.
- *
- * @param taskCode the function to execute in its own task
- * @param stackDepth the number of variables available on the stack (4 * stackDepth bytes will
- * be allocated on the Cortex)
- * @param parameters an argument passed to the taskCode function
- * @param priority a value from TASK_PRIORITY_LOWEST to TASK_PRIORITY_HIGHEST determining the
- * initial priority of the task
- * @return a handle to the created task, or NULL if an error occurred
- */
-TaskHandle taskCreate(TaskCode taskCode, const unsigned int stackDepth, void *parameters,
- const unsigned int priority);
-/**
- * Delays the current task for a given number of milliseconds.
- *
- * Delaying for a period of zero will force a reschedule, where tasks of equal priority may be
- * scheduled if available. The calling task will still be available for immediate rescheduling
- * once the other tasks have had their turn or if nothing of equal or higher priority is
- * available to be scheduled.
- *
- * This is not the best method to have a task execute code at predefined intervals, as the
- * delay time is measured from when the delay is requested. To delay cyclically, use
- * taskDelayUntil().
- *
- * @param msToDelay the number of milliseconds to wait, with 1000 milliseconds per second
- */
-void taskDelay(const unsigned long msToDelay);
-/**
- * Delays the current task until a specified time. The task will be unblocked
- * at the time *previousWakeTime + cycleTime, and *previousWakeTime will be changed to reflect
- * the time at which the task will unblock.
- *
- * If the target time is in the past, no delay occurs, but a reschedule is forced, as if
- * taskDelay() was called with an argument of zero. If the sum of cycleTime and
- * *previousWakeTime overflows or underflows, undefined behavior occurs.
- *
- * This function should be used by cyclical tasks to ensure a constant execution frequency.
- * While taskDelay() specifies a wake time relative to the time at which the function is
- * called, taskDelayUntil() specifies the absolute future time at which it wishes to unblock.
- * Calling taskDelayUntil with the same cycleTime parameter value in a loop, with
- * previousWakeTime referring to a local variable initialized to millis(), will cause the
- * loop to execute with a fixed period.
- *
- * @param previousWakeTime a pointer to the location storing the last unblock time, obtained
- * by using the "&" operator on a variable (e.g. "taskDelayUntil(&now, 50);")
- * @param cycleTime the number of milliseconds to wait, with 1000 milliseconds per second
- */
-void taskDelayUntil(unsigned long *previousWakeTime, const unsigned long cycleTime);
-/**
- * Kills and removes the specified task from the kernel task list.
- *
- * Deleting the last task will end the program, possibly leading to undesirable states as
- * some outputs may remain in their last set configuration.
- *
- * NOTE: The idle task is responsible for freeing the kernel allocated memory from tasks that
- * have been deleted. It is therefore important that the idle task is not starved of
- * processing time. Memory allocated by the task code is not automatically freed, and should be
- * freed before the task is deleted.
- *
- * @param taskToDelete the task to kill; passing NULL kills the current task
- */
-void taskDelete(TaskHandle taskToDelete);
-/**
- * Determines the number of tasks that are currently being managed.
- *
- * This includes all ready, blocked and suspended tasks. A task that has been deleted but not
- * yet freed by the idle task will also be included in the count. Tasks recently created may
- * take one context switch to be counted.
- *
- * @return the number of tasks that are currently running, waiting, or suspended
- */
-unsigned int taskGetCount();
-/**
- * Retrieves the state of the specified task. Note that the state of tasks which have died may
- * be re-used for future tasks, causing the value returned by this function to reflect a
- * different task than possibly intended in this case.
- *
- * @param task Handle to the task to query. Passing NULL will query the current task status
- * (which will, by definition, be TASK_RUNNING if this call returns)
- *
- * @return A value reflecting the task's status, one of the constants TASK_DEAD, TASK_RUNNING,
- * TASK_RUNNABLE, TASK_SLEEPING, or TASK_SUSPENDED
- */
-unsigned int taskGetState(TaskHandle task);
-/**
- * Obtains the priority of the specified task.
- *
- * @param task the task to check; passing NULL checks the current task
- * @return the priority of that task from 0 to TASK_MAX_PRIORITIES
- */
-unsigned int taskPriorityGet(const TaskHandle task);
-/**
- * Sets the priority of the specified task.
- *
- * A context switch may occur before the function returns if the priority being set is higher
- * than the currently executing task and the task being mutated is available to be scheduled.
- *
- * @param task the task to change; passing NULL changes the current task
- * @param newPriority a value between TASK_PRIORITY_LOWEST and TASK_PRIORITY_HIGHEST inclusive
- * indicating the new task priority
- */
-void taskPrioritySet(TaskHandle task, const unsigned int newPriority);
-/**
- * Resumes the specified task.
- *
- * A task that has been suspended by one or more calls to taskSuspend() will be made available
- * for scheduling again by a call to taskResume(). If the task was not suspended at the time
- * of the call to taskResume(), undefined behavior occurs.
- *
- * @param taskToResume the task to change; passing NULL is not allowed as the current task
- * cannot be suspended (it is obviously running if this function is called)
- */
-void taskResume(TaskHandle taskToResume);
-/**
- * Starts a task which will periodically call the specified function.
- *
- * Intended for use as a quick-start skeleton for cyclic tasks with higher priority than the
- * "main" tasks. The created task will have priority TASK_PRIORITY_DEFAULT + 1 with the default
- * stack size. To customize behavior, create a task manually with the specified function.
- *
- * This task will automatically terminate after one further function invocation when the robot
- * is disabled or when the robot mode is switched.
- *
- * @param fn the function to call in this loop
- * @param increment the delay between successive calls in milliseconds; the taskDelayUntil()
- * function is used for accurate cycle timing
- * @return a handle to the task, or NULL if an error occurred
- */
-TaskHandle taskRunLoop(void (*fn)(void), const unsigned long increment);
-/**
- * Suspends the specified task.
- *
- * When suspended a task will not be scheduled, regardless of whether it might be otherwise
- * available to run.
- *
- * @param taskToSuspend the task to suspend; passing NULL suspends the current task
- */
-void taskSuspend(TaskHandle taskToSuspend);
-
-/**
- * Creates a semaphore intended for synchronizing tasks. To prevent some critical code from
- * simultaneously modifying a shared resource, use mutexes instead.
- *
- * Semaphores created using this function can be accessed using the semaphoreTake() and
- * semaphoreGive() functions. The mutex functions must not be used on objects of this type.
- *
- * This type of object does not need to have balanced take and give calls, so priority
- * inheritance is not used. Semaphores can be signalled by an interrupt routine.
- *
- * @return a handle to the created semaphore
- */
-Semaphore semaphoreCreate();
-/**
- * Signals a semaphore. Tasks waiting for a signal using semaphoreTake() will be unblocked by
- * this call and can continue execution.
- *
- * Slow processes can give semaphores when ready, and fast processes waiting to take the
- * semaphore will continue at that point.
- *
- * @param semaphore the semaphore to signal
- * @return true if the semaphore was successfully given, or false if the semaphore was not
- * taken since the last give
- */
-bool semaphoreGive(Semaphore semaphore);
-/**
- * Waits on a semaphore. If the semaphore is already in the "taken" state, the current task
- * will wait for the semaphore to be signaled. Other tasks can run during this time.
- *
- * @param semaphore the semaphore to wait
- * @param blockTime the maximum time to wait for the semaphore to be given, where -1
- * specifies an infinite timeout
- * @return true if the semaphore was successfully taken, or false if the timeout expired
- */
-bool semaphoreTake(Semaphore semaphore, const unsigned long blockTime);
-/**
- * Deletes the specified semaphore. This function can be dangerous; deleting semaphores being
- * waited on by a task may cause deadlock or a crash.
- *
- * @param semaphore the semaphore to destroy
- */
-void semaphoreDelete(Semaphore semaphore);
-
-/**
- * Creates a mutex intended to allow only one task to use a resource at a time. For signalling
- * and synchronization, try using semaphores.
- *
- * Mutexes created using this function can be accessed using the mutexTake() and mutexGive()
- * functions. The semaphore functions must not be used on objects of this type.
- *
- * This type of object uses a priority inheritance mechanism so a task 'taking' a mutex MUST
- * ALWAYS 'give' the mutex back once the mutex is no longer required.
- *
- * @return a handle to the created mutex
- */
-Mutex mutexCreate();
-/**
- * Relinquishes a mutex so that other tasks can use the resource it guards. The mutex must be
- * held by the current task using a corresponding call to mutexTake.
- *
- * @param mutex the mutex to release
- * @return true if the mutex was released, or false if the mutex was not already held
- */
-bool mutexGive(Mutex mutex);
-/**
- * Requests a mutex so that other tasks cannot simultaneously use the resource it guards.
- * The mutex must not already be held by the current task. If another task already
- * holds the mutex, the function will wait for the mutex to be released. Other tasks can run
- * during this time.
- *
- * @param mutex the mutex to request
- * @param blockTime the maximum time to wait for the mutex to be available, where -1
- * specifies an infinite timeout
- * @return true if the mutex was successfully taken, or false if the timeout expired
- */
-bool mutexTake(Mutex mutex, const unsigned long blockTime);
-/**
- * Deletes the specified mutex. This function can be dangerous; deleting semaphores being
- * waited on by a task may cause deadlock or a crash.
- *
- * @param mutex the mutex to destroy
- */
-void mutexDelete(Mutex mutex);
-
-/**
- * Wiring-compatible alias of taskDelay().
- *
- * @param time the duration of the delay in milliseconds (1 000 milliseconds per second)
- */
-void delay(const unsigned long time);
-/**
- * Wait for approximately the given number of microseconds.
- *
- * The method used for delaying this length of time may vary depending on the argument.
- * The current task will always be delayed by at least the specified period, but possibly much
- * more depending on CPU load. In general, this function is less reliable than delay(). Using
- * this function in a loop may hog processing time from other tasks.
- *
- * @param us the duration of the delay in microseconds (1 000 000 microseconds per second)
- */
-void delayMicroseconds(const unsigned long us);
-/**
- * Returns the number of microseconds since Cortex power-up. There are 10^6 microseconds in a
- * second, so as a 32-bit integer, this will overflow and wrap back to zero every two hours or
- * so.
- *
- * This function is Wiring-compatible.
- *
- * @return the number of microseconds since the Cortex was turned on or the last overflow
- */
-unsigned long micros();
-/**
- * Returns the number of milliseconds since Cortex power-up. There are 1000 milliseconds in a
- * second, so as a 32-bit integer, this will not overflow for 50 days.
- *
- * This function is Wiring-compatible.
- *
- * @return the number of milliseconds since the Cortex was turned on
- */
-unsigned long millis();
-/**
- * Alias of taskDelay() intended to help EasyC users.
- *
- * @param time the duration of the delay in milliseconds (1 000 milliseconds per second)
- */
-void wait(const unsigned long time);
-/**
- * Alias of taskDelayUntil() intended to help EasyC users.
- *
- * @param previousWakeTime a pointer to the last wakeup time
- * @param time the duration of the delay in milliseconds (1 000 milliseconds per second)
- */
-void waitUntil(unsigned long *previousWakeTime, const unsigned long time);
-
-// End C++ extern to C
-#ifdef __cplusplus
-}
-#endif
-
-#endif
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