ADI Expander C API

Note

The internal ADI API can be found here.

Functions

ext_adi_analog_calibrate

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 ext_adi_analog_read_calibrated and ext_adi_analog_read_calibrated_HR functions. These functions will return the difference between this value and the current sensor value when called.

Do not use this function when the sensor value might be unstable (gyro rotation, accelerometer movement).

Note

The ADI currently returns data at 10ms intervals, in constrast to the calibrate function’s 1ms sample rate. This sample rate was kept for the sake of being similar to PROS 2, and increasing the sample rate would not have a tangible difference in the function’s performance.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as an analog input

Analogous to pros::ADIAnalogIn::calibrate.

Prototype
Example
int32_t ext_adi_analog_calibrate (uint8_t smart_port, uint8_t adi_port)

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#define ADI_EXPANDER_PORT 20
#define ANALOG_SENSOR_PORT 1

void initialize() {
  ext_adi_analog_calibrate(ADI_EXPANDER_PORT, ANALOG_SENSOR_PORT);
  printf("Calibrated Reading: %d\n",
        ext_adi_analog_read_calibrated(ADI_EXPANDER_PORT, ANALOG_SENSOR_PORT));
  // All readings from then on will be calibrated
}
Parameters  
smart_port The smart port number the ADI Expander is in
adi_port The ADI port to calibrate (from 1-8, ‘a’-‘h’, ‘A’-‘H’)

Returns: The average sensor value computed by this function.

ext_adi_analog_read

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. The meaning of the returned value varies depending on the sensor attached.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as an analog input

Analogous to pros::ADIAnalogIn::get_value.

Prototype
Example
int32_t ext_adi_analog_read (uint8_t smart_port,
                              uint8_t adi_port)

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#define ADI_EXPANDER_PORT 20
#define ANALOG_SENSOR_PORT 1

void opcontrol() {
  while (true) {
    printf("Sensor Reading: %d\n", ext_adi_analog_read(ADI_EXPANDER_PORT, ANALOG_SENSOR_PORT));
    delay(5);
  }
}
Parameters  
smart_port The smart port number the ADI Expander is in
adi_port The ADI port to read from (from 1-8, ‘a’-‘h’, ‘A’-‘H’)

Returns: 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

ext_adi_analog_read_calibrated

Reads the calibrated value of an analog input channel.

The ext_adi_analog_calibrate 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 ext_adi_analog_read_calibrated_HR instead.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as an analog input

Analogous to pros::ADIAnalogIn::get_value_calibrated.

Prototype
Example
int32_t ext_adi_analog_read_calibrated (uint8_t smart_port,
                                        uint8_t adi_port)

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#define ADI_EXPANDER_PORT 20
#define ANALOG_SENSOR_PORT 1

void opcontrol() {
  while (true) {
    printf("Sensor Reading: %d\n", ext_adi_analog_read_calibrated(ADI_EXPANDER_PORT, ANALOG_SENSOR_PORT));
    delay(5);
  }
}
Parameters  
smart_port The smart port number the ADI Expander is in
adi_port The ADI port to calibrate (from 1-8, ‘a’-‘h’, ‘A’-‘H’)

Returns: The difference of the sensor value from its calibrated default from -4095 to 4095.

ext_adi_analog_read_calibrated_HR

Reads the calibrated value of an analog input channel 1-8 with enhanced precision.

The ext_adi_analog_calibrate 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 uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as an analog input

Analogous to pros::ADIAnalogIn::get_value_calibrated_HR.

Prototype
Example
int32_t ext_adi_analog_read_calibrated_HR (uint8_t smart_port,
                                            uint8_t adi_port)

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#define ADI_EXPANDER_PORT 20
#define ANALOG_SENSOR_PORT 1

void opcontrol() {
  while (true) {
    ext_adi_analog_calibrate(ADI_EXPANDER_PORT, ANALOG_SENSOR_PORT);

    printf("Sensor Reading: %d\n", ext_adi_analog_read_calibrated_HR(ADI_EXPANDER_PORT, ANALOG_SENSOR_PORT));
    delay(5);
  }
}
Parameters  
smart_port The smart port number the ADI Expander is in
adi_port The ADI port to read from (from 1-8, ‘a’-‘h’, ‘A’-‘H’)

Returns: The difference of the sensor value from its calibrated default from -16384 to 16384.

ext_adi_digital_get_new_press

Returns a rising-edge case for a digital button press.

This function is not thread-safe. Multiple tasks polling a single button may return different results under the same circumstances, so only one task should call this function for any given button. E.g., Task A calls this function for buttons 1 and 2. Task B may call this function for button 3, but should not for buttons 1 or 2. A typical use-case for this function is to call inside opcontrol to detect new button presses, and not in any other tasks.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as a digital input

Analogous to pros::ADIDigitalIn::get_new_press.

Prototype
Example
int32_t ext_adi_digital_get_new_press (uint8_t smart_port,
                                      uint8_t adi_port)

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#define ADI_EXPANDER_PORT 20
#define DIGITAL_SENSOR_PORT 1

void opcontrol() {
  while (true) {
    if (ext_adi_digital_get_new_press(ADI_EXPANDER_PORT, DIGITAL_SENSOR_PORT)) {
      // Toggle pneumatics or other state operations
    }
    delay(5);
  }
}
Parameters  
smart_port The smart port number the ADI Expander is in
adi_port The ADI port to read from (from 1-8, ‘a’-‘h’, ‘A’-‘H’)

Returns: 1 if the button on the controller is pressed and had not been pressed the last time this function was called, 0 otherwise.

ext_adi_digital_read

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.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as a digital input

Analogous to pros::ADIDigitalIn::get_value.

Prototype
Example
int32_t ext_adi_digital_read (uint8_t smart_port,
                              uint8_t adi_port)
::

#define ADI_EXPANDER_PORT 20 #define DIGITAL_SENSOR_PORT 1

void opcontrol() {
while (true) {
printf(“Sensor Value: %dn”, ext_adi_digital_read(ADI_EXPANDER_PORT, DIGITAL_SENSOR_PORT)); delay(5);

}

}

Parameters  
smart_port The smart port number the ADI Expander is in
adi_port The ADI port to read from (from 1-8, ‘a’-‘h’, ‘A’-‘H’)

Returns: True if the pin is HIGH, or false if it is LOW.

ext_adi_digital_write

Sets the digital value (1 or 0) of a pin configured as a digital output.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as a digital output

Analogous to pros::ADIDigitalOut::set_value.

Prototype
Example
int32_t ext_adi_digital_write (uint8_t smart_port,
                               uint8_t adi_port,
                               bool value)

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#define ADI_EXPANDER_PORT 20
#define DIGITAL_SENSOR_PORT 1

void opcontrol() {
  bool state = LOW;
  while (true) {
    state != state;
    ext_adi_digital_write(ADI_EXPANDER_PORT, DIGITAL_SENSOR_PORT, state);

    delay(5); // toggle the sensor value every 50ms
  }
}
Parameters  
smart_port The smart port number the ADI Expander is in
adi_port The ADI port to write to (from 1-8, ‘a’-‘h’, ‘A’-‘H’)
value an expression evaluating to “true” or “false” to set the output to HIGH or LOW respectively, or the constants HIGH or LOW themselves

Returns: 1 if the operation was successful, PROS_ERR otherwise.

ext_adi_encoder_get

Gets the number of ticks recorded by the encoder.

There are 360 ticks in one revolution.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as an encoder

Analogous to pros::ADIEncoder::get_value.

Prototype
Example
int32_t ext_adi_encoder_get ( ext_adi_encoder_t enc )
::

#define ADI_EXPANDER_PORT 20 #define PORT_TOP 1 #define PORT_BOTTOM 2

void opcontrol() {

ext_adi_encoder_t enc = ext_adi_encoder_init(ADI_EXPANDER_PORT, PORT_TOP, PORT_BOTTOM, false); while (true) {

printf(“Encoder Value: %dn”, ext_adi_encoder_get(enc)); delay(5);

}

}

Parameters  
enc the `ext_adi_encoder_t`_ object from ext_adi_encoder_init to read, or simply the ADI port number

Returns: The signed and cumulative number of counts since the last start or reset.

ext_adi_encoder_init

Initializes and enables a quadrature encoder on two ADI ports.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as an encoder

Analogous to pros::ADIEncoder::ADIEncoder.

Prototype
Example
ext_adi_encoder_t ext_adi_encoder_init (uint8_t port_top,
                                uint8_t port_bottom,
                                const bool reverse )

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#define ADI_EXPANDER_PORT 20
#define PORT_TOP 1
#define PORT_BOTTOM 2

void opcontrol() {
  ext_adi_encoder_t enc = ext_adi_encoder_init(ADI_EXPANDER_PORT, PORT_TOP, PORT_BOTTOM, false);
  while (true) {
    printf("Encoder Value: %d\n", ext_adi_encoder_get(enc));
    delay(5);
  }
}
Parameters  
smart_port The smart port number the ADI Expander is in
port_top the “top” wire from the encoder sensor with the removable cover side UP. This should be in port 1, 3, 5, or 7 (‘A’, ‘C’, ‘E’, ‘G’).
port_bottom the “bottom” wire from the encoder sensor
reverse if “true”, the sensor will count in the opposite direction

Returns: An `ext_adi_encoder_t`_ object to be stored and used for later calls to encoder functions, or PROS_ERR if there was an error.

ext_adi_encoder_reset

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.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as an encoder

Analogous to pros::ADIEncoder::reset.

Prototype
Example
int32_t ext_adi_encoder_reset ( ext_adi_encoder_t enc )

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#define ADI_EXPANDER_PORT 20
#define PORT_TOP 1
#define PORT_BOTTOM 2

void opcontrol() {
  ext_adi_encoder_t enc = ext_adi_encoder_init(ADI_EXPANDER_PORT, PORT_TOP, PORT_BOTTOM, false);
  delay(1000); // Move the encoder around in this time
  ext_adi_encoder_reset(enc); // The encoder is now zero again
}
Parameters  
enc the `ext_adi_encoder_t`_ object from ext_adi_encoder_init to reset or simply the ADI port number

Returns: 1 if the operation was successful, PROS_ERR otherwise.

ext_adi_encoder_shutdown

Stops and disables the encoder.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as an encoder
Prototype
Example
int32_t ext_adi_encoder_shutdown ( ext_adi_encoder_t enc )

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#define ADI_EXPANDER_PORT 20
#define PORT_TOP 1
#define PORT_BOTTOM 2

void opcontrol() {
  ext_adi_encoder_t enc = ext_adi_encoder_init(ADI_EXPANDER_PORT, PORT_TOP, PORT_BOTTOM, false);
  // Use the encoder
  ext_adi_encoder_shutdown(enc);
}
Parameters  
enc the `ext_adi_encoder_t`_ object from ext_adi_encoder_init to shut down, or simply the ADI port number

Returns: 1 if the operation was successful, PROS_ERR otherwise.

ext_adi_motor_get

Returns the last set speed of the motor on the given port.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as a motor

Analogous to pros::ADIMotor::get_value.

Prototype
Example
int32_t ext_adi_motor_get (uint8_t smart_port,
                           uint8_t adi_port)
::

#define ADI_EXPANDER_PORT 20 #define MOTOR_PORT 1

void opcontrol() {
ext_adi_motor_set(ADI_EXPANDER_PORT, MOTOR_PORT, 127); // Go full speed forward printf(“Commanded Motor Power: %dn”, ext_adi_motor_get(ADI_EXPANDER_PORT, MOTOR_PORT)); // Will display 127 delay(1000); ext_adi_motor_set(ADI_EXPANDER_PORT, MOTOR_PORT, 0); // Stop the motor

}

Parameters  
smart_port The smart port number the ADI Expander is in
adi_port The ADI port to get (from 1-8, ‘a’-‘h’, ‘A’-‘H’)

Returns: The last set speed of the motor on the given port.

ext_adi_motor_set

Sets the speed of the motor on the given port.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as a motor

Analogous to pros::ADIMotor::set_value.

Prototype
Example
int32_t ext_adi_motor_set (uint8_t smart_port,
                           uint8_t adi_port,
                           int8_t speed)

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#define ADI_EXPANDER_PORT 20
#define MOTOR_PORT 1

void opcontrol() {
  ext_adi_motor_set(ADI_EXPANDER_PORT, MOTOR_PORT, 127); // Go full speed forward
  delay(1000);
  ext_adi_motor_set(ADI_EXPANDER_PORT, MOTOR_PORT, 0); // Stop the motor
}
Parameters  
smart_port The smart port number the ADI Expander is in
adi_port The ADI port to set (from 1-8, ‘a’-‘h’, ‘A’-‘H’)
speed the new signed speed; -127 is full reverse and 127 is full forward, with 0 being off

Returns: 1 if the operation was successful, PROS_ERR otherwise

ext_adi_motor_stop

Stops the motor on the given port.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as a motor

Analogous to pros::ADIMotor::stop.

Prototype
Example
int32_t ext_adi_motor_stop (uint8_t smart_port, uint8_t adi_port)

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#define ADI_EXPANDER_PORT 20
#define MOTOR_PORT 1

void opcontrol() {
  ext_adi_motor_set(ADI_EXPANDER_PORT, MOTOR_PORT, 127); // Go full speed forward
  delay(1000);
  ext_adi_motor_set(ADI_EXPANDER_PORT, MOTOR_PORT, 0); // Stop the motor
  ext_adi_motor_stop(ADI_EXPANDER_PORT, MOTOR_PORT); // use this instead
}
Parameters  
smart_port The smart port number the ADI Expander is in
adi_port The ADI port to stop (from 1-8, ‘a’-‘h’, ‘A’-‘H’)

Returns: 1 if the operation was successful, PROS_ERR otherwise.

ext_adi_pin_mode

Configures the pin as an input or output with a variety of settings.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
Prototype
Example
int32_t ext_adi_pin_mode (uint8_t smart_port,
                         uint8_t adi_port,
                         uint8_t mode)

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#define ADI_EXPANDER_PORT 20
#define ANALOG_SENSOR_PORT 1

void initialize() {
  ext_adi_pin_mode(ADI_EXPANDER_PORT, ANALOG_SENSOR_PORT, INPUT_ANALOG);
}
Parameters  
smart_port The smart port number the ADI Expander is in
adi_port The ADI port to configure (from 1-8, ‘a’-‘h’, ‘A’-‘H’)
mode one of INPUT, INPUT_ANALOG, OUTPUT, or OUTPUT_ANALOG

Returns: 1 if the operation was successful, PROS_ERR otherwise.

ext_adi_port_get_config

Returns the configuration for the given ADI port.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports

Analogous to pros::ADIPort::get_config.

Prototype
Example
ext_adi_port_config_e_t ext_adi_port_get_config (uint8_t smart_port,
                                                uint8_t adi_port)

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#define ADI_EXPANDER_PORT 20
#define ANALOG_SENSOR_PORT 1

void initialize() {
  ext_adi_port_set_config(ADI_EXPANDER_PORT, ANALOG_SENSOR_PORT, E_ADI_ANALOG_IN);
  // Displays the value of E_ADI_ANALOG_IN
  printf("Port Type: %d\n", ext_adi_port_get_config(ADI_EXPANDER_PORT, ANALOG_SENSOR_PORT));
}
Parameters  
smart_port The smart port number the ADI Expander is in
adi_port The ADI port to get (from 1-8, ‘a’-‘h’, ‘A’-‘H’)

Returns: The ext_adi_port_config_e_t set for the port.

ext_adi_port_get_value

Returns the value for the given ADI port.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports

Analogous to pros::ADIPort::get_value.

Prototype
Example
int32_t ext_adi_get_value (uint8_t smart_port,
                           uint8_t adi_port)

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#define ADI_EXPANDER_PORT 20
#define ANALOG_SENSOR_PORT 1

void opcontrol() {
  ext_adi_port_set_config(ADI_EXPANDER_PORT, ANALOG_SENSOR_PORT, E_ADI_ANALOG_IN);
  printf("Port Value: %d\n", ext_adi_get_value(ADI_EXPANDER_PORT, ANALOG_SENSOR_PORT));
}
Parameters  
smart_port The smart port number the ADI Expander is in
adi_port The ADI port number (from 1-8, ‘a’-‘h’, ‘A’-‘H’) to read

Returns: The value for the given ADI port.

ext_adi_port_set_config

Configures an ADI port to act as a given sensor type.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports

Analogous to pros::ADIPort::set_config.

Prototype
Example
int32_t ext_adi_port_set_config (uint8_t smart_port,
                               uint8_t adi_port
                               ext_adi_port_config_e_t type )

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#define ADI_EXPANDER_PORT 20
#define ANALOG_SENSOR_PORT 1

void initialize() {
  ext_adi_port_set_config(ADI_EXPANDER_PORT, ANALOG_SENSOR_PORT, E_ADI_ANALOG_IN);
}
Parameters  
smart_port The smart port number the ADI Expander is in
adi_port The ADI port number (from 1-8, ‘a’-‘h’, ‘A’-‘H’) to set
type The configuration type for the port

Returns: 1 if the operation was successful, PROS_ERR otherwise.

ext_adi_port_set_value

Sets the value for the given ADI port

This only works on ports configured as outputs, and the behavior will change depending on the configuration of the port.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports

Analogous to pros::ADIPort::set_value.

Prototype
Example
int32_t ext_adi_set_value (uint8_t smart_port,
                        uint8_t adi_port,
                        int32_t value )

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#define ADI_EXPANDER_PORT 20
#define DIGITAL_SENSOR_PORT 1

void initialize() {
  ext_adi_port_set_config(ADI_EXPANDER_PORT, DIGITAL_SENSOR_PORT, E_ADI_DIGITAL_OUT);
  ext_adi_set_value(ADI_EXPANDER_PORT, DIGITAL_SENSOR_PORT, HIGH);
}
Parameters  
smart_port The smart port number the ADI Expander is in
adi_port The ADI port number (from 1-8, ‘a’-‘h’, ‘A’-‘H’) to set
value The value to set the ADI port to

Returns: 1 if the operation was successful, PROS_ERR otherwise.

ext_adi_ultrasonic_get

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 PROS_ERR. Round and fluffy objects can cause inaccurate values to be returned.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as an ultrasonic

Analogous to pros::ADIUltrasonic::get_value.

Prototype
Example
int32_t ext_adi_ultrasonic_get ( ext_adi_ultrasonic_t ult )

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#define PORT_PING 1
#define PORT_ECHO 2
#define ADI_EXPANDER_PORT 20

void opcontrol() {
  ext_adi_ultrasonic_t ult = ext_adi_ultrasonic_init(ADI_EXPANDER_PORT, PORT_PING, PORT_ECHO);
  while (true) {
    // Print the distance read by the ultrasonic
    printf("Distance: %d\n", ext_adi_ultrasonic_get(ult));
    delay(5);
  }
}
Parameters  
ult the `ext_adi_ultrasonic_t`_ object from ext_adi_ultrasonic_init to read, or simply the ADI port number

Returns: The distance to the nearest object in centimeters.

ext_adi_ultrasonic_init

Initializes an ultrasonic sensor on the specified ADI ports.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as an ultrasonic

Analogous to pros::ADIUltrasonic::ADIUltrasonic.

Prototype
Example
ext_adi_ultrasonic_t ext_adi_ultrasonic_init (uint8_t smart_port,
                                      uint8_t port_ping,
                                      uint8_t port_echo )

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#define PORT_PING 1
#define PORT_ECHO 2
#define ADI_EXPANDER_PORT 20

void opcontrol() {
  ext_adi_ultrasonic_t ult = ext_adi_ultrasonic_init(ADI_EXPANDER_PORT, PORT_PING, PORT_ECHO);
  while (true) {
    // Print the distance read by the ultrasonic
    printf("Distance: %d\n", ext_adi_ultrasonic_get(ult));
    delay(5);
  }
}
Parameters  
smart_port The smart port number the ADI Expander is in
port_ping the port connected to the orange OUTPUT cable. This should be in port 1, 3, 5, or 7 (‘A’, ‘C’, ‘E’, ‘G’).
port_echo the port connected to the yellow INPUT cable. This should be in the next highest port following port_ping.

Returns: An `ext_adi_ultrasonic_t`_ object to be stored and used for later calls to ultrasonic functions, or PROS_ERR if there was an error.

ext_adi_ultrasonic_shutdown

Stops and disables the ultrasonic sensor.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as an ultrasonic
Prototype
Example
int32_t ext_adi_ultrasonic_shutdown ( ext_adi_ultrasonic_t ult )

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#define PORT_PING 1
#define PORT_ECHO 2
#define ADI_EXPANDER_PORT 20

void opcontrol() {
  ext_adi_ultrasonic_t ult = ext_adi_ultrasonic_init(ADI_EXPANDER_PORT, PORT_PING, PORT_ECHO);
  while (true) {
    // Print the distance read by the ultrasonic
    printf("Distance: %d\n", ext_adi_ultrasonic_get(ult));
    delay(5);
  }
  ext_adi_ultrasonic_shutdown(ult);
}
Parameters  
ult the `ext_adi_ultrasonic_t`_ object from ext_adi_ultrasonic_init to shut down, or simply the ADI port number

Returns: 1 if the operation was successful, PROS_ERR otherwise.

ext_adi_gyro_init

Initializes a gyroscope on the given port. If the given port has not previously been configured as a gyro, then this function starts a 1 second calibration period.

If calibration is required, it is highly recommended that this function be called from initialize when the robot is stationary.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as a gyro

Analogous to pros::ADIGyro::ADIGyro.

Prototype
Example
ext_adi_gyro_t ext_adi_gyro_init ( uint8_t smart_port,
                           uint8_t adi_port,
                           double multiplier )

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#define GYRO_PORT 1
#define GYRO_MULTIPLIER 1 // Standard behavior
#define ADI_EXPANDER_PORT 20

void opcontrol() {
  ext_adi_gyro_t gyro = ext_adi_gyro_init(ADI_EXPANDER_PORT, GYRO_PORT, GYRO_MULTIPLIER);
  while (true) {
    // Print the gyro's heading
    printf("Heading: %lf\n", ext_adi_gyro_get(gyro));
    delay(5);
  }
}
Parameters  
smart_port The smart port number the ADI Expander is in
adi_port The ADI port number (from 1-8, ‘a’-‘h’, ‘A’-‘H’) to initialize as a gyro
multiplier A scalar value that will be mutliplied by the gyro heading value

Returns: An `ext_adi_gyro_t`_ object to be stored and used for later calls to gyro functions, or PROS_ERR if there was an error.

ext_adi_gyro_get

Gets the current gyro angle in tenths of a degree. Unless a multiplier is applied to the gyro, the return value will be a whole number representing the number of degrees of rotation times 10.

There are 360 degrees in a circle, thus the gyro will return 3600 for one whole rotation.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as a gyro

Analogous to pros::ADIGyro::get_value.

Prototype
Example
double ext_adi_gyro_get ( ext_adi_gyro_t gyro )

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#define GYRO_PORT 1
#define GYRO_MULTIPLIER 1 // Standard behavior
#define ADI_EXPANDER_PORT 20

void opcontrol() {
  ext_adi_gyro_t gyro = ext_adi_gyro_init(ADI_EXPANDER_PORT, GYRO_PORT, GYRO_MULTIPLIER);
  while (true) {
    // Print the gyro's heading
    printf("Heading: %lf\n", ext_adi_gyro_get(gyro));
    delay(5);
  }
}
Parameters  
gyro The ext_adi_gyro_t object for which the heading will be returned

Returns: The gyro angle in tenths of a degree.

ext_adi_gyro_reset

Resets the gyro value to zero.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as a gyro

Analogous to pros::ADIGyro::reset.

Prototype
Example
int32_t ext_adi_gyro_reset ( ext_adi_gyro_t gyro )

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#define GYRO_PORT 1
#define GYRO_MULTIPLIER 1 // Standard behavior
#define ADI_EXPANDER_PORT 20

void opcontrol() {
  ext_adi_gyro_t gyro = ext_adi_gyro_init(ADI_EXPANDER_PORT, GYRO_PORT, GYRO_MULTIPLIER);
  uint32_t now = millis();
  while (true) {
    // Print the gyro's heading
    printf("Heading: %lf\n", ext_adi_gyro_get(gyro));

    if (millis() - now > 2000) {
      // Reset the gyro every 2 seconds
      ext_adi_gyro_reset(gyro);
      now = millis();
    }

    delay(5);
  }
}
Parameters  
gyro The ext_adi_gyro_t object to reset

Returns: 1 if the operation was successful, PROS_ERR otherwise.

ext_adi_gyro_shutdown

Disables the gyro and voids the configuration on its port.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as a gyro
Prototype
Example
int32_t ext_adi_gyro_shutdown ( ext_adi_gyro_t gyro )

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#define GYRO_PORT 1
#define GYRO_MULTIPLIER 1 // Standard behavior
#define ADI_EXPANDER_PORT 20

void opcontrol() {
  ext_adi_gyro_t gyro = ext_adi_gyro_init(ADI_EXPANDER_PORT, GYRO_PORT, GYRO_MULTIPLIER);
  uint32_t now = millis();
  while (true) {
    // Print the gyro's heading
    printf("Heading: %lf\n", ext_adi_gyro_get(gyro));

    if (millis() - now > 2000) {
      ext_adi_gyro_shutdown(gyro);
      // Shut down the gyro after two seconds
      break;
    }

    delay(5);
  }
}
Parameters  
gyro The ext_adi_gyro_t object to shut down

Returns: 1 if the operation was successful, PROS_ERR otherwise.

ext_adi_potentiometer_init

Initializes a potentiometer on the given port.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as a potentiometer

Analogous to pros::ADIPotentiometer::ADIPotentiometer.

Prototype
Example
ext_adi_potentiometer_t ext_adi_potentiometer_init ( uint8_t smart_port,
uint8_t adi_port, adi_potentiometer_type_e_t potentiometer_type )
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#define POTENTIOMETER_PORT 1
#define POTENTIOMETER_TYPE E_ADI_POT_EDR
#define ADI_EXPANDER_PORT 20

void opcontrol() {
  ext_adi_potentiometer_init potentiometer = ext_adi_potentiometer_init(ADI_EXPANDER_PORT, POTENTIOMETER_PORT, POTENTIOMETER_TYPE);
  while (true) {
    // Print the potentiometer's angle
    printf("Angle: %lf\n", ext_adi_potentiometer_get_angle(potentiometer));
    delay(5);
  }
}
Parameters  
smart_port The smart port number the ADI Expander is in
adi_port The ADI port number (from 1-8, ‘a’-‘h’, ‘A’-‘H’) to initialize as a potentiometer
potentiometer_type An adi_potentiometer_type_e_t enum value specifying the potentiometer version type

Returns: An `ext_adi_potentiometer_t`_ object to be stored and used for later calls to potentiometer functions, or PROS_ERR if there was an error.

ext_adi_potentiometer_get_angle

Gets the current potentiometer angle in tenths of a degree.

The original potentiometer rotates 250 degrees thus returning an angle between 0-250 degrees. Potentiometer V2 rotates 333 degrees thus returning an angle between 0-333 degrees.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EADDRINUSE - The port is not configured as a potentiometer

Analogous to pros::ADIPotentiometer::get_angle.

Prototype
Example
double ext_adi_potentiometer_get_angle ( ext_adi_potentiometer_t potentiometer )
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#define POTENTIOMETER_PORT 1
#define POTENTIOMETER_TYPE E_ADI_POT_EDR
#define ADI_EXPANDER_PORT 20

void opcontrol() {
  ext_adi_potentiometer_init potentiometer = ext_adi_potentiometer_init(ADI_EXPANDER_PORT, POTENTIOMETER_PORT, POTENTIOMETER_TYPE);
  while (true) {
    // Print the potentiometer's angle
    printf("Angle: %lf\n", ext_adi_potentiometer_get_angle(potentiometer));
    delay(5);
  }
}
Parameters  
potentiometer The adi_potentiometer_t object for which the angle will be returned

Returns: An `ext_adi_potentiometer_t`_ object to be stored and used for later calls to potentiometer functions, or PROS_ERR if there was an error.

ext_adi_led_clear_all

Clear the entire led strip of color.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EINVAL - A given value is not correct, or the buffer is null
  • EADDRINUSE - The port is not configured for ADI output

Analogous to pros::ADILed::clear_all.

Prototype
Example
ext_adi_led_clear_all ( ext_adi_led_t led, uint32_t* buffer, uint32_t buffer_length )

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#define LED_PORT 1
#define LED_SIZE 64
#define ADI_EXPANDER_PORT 20

void initialize() {
  ext_adi_led_t led = ext_adi_led_init(ADI_EXPANDER_PORT, LED_PORT);
  uint32_t buffer[LED_SIZE];
  ext_adi_led_clear_all(led, buffer, LED_SIZE);
}
Parameters  
led Port of type ext_adi_led_t
buffer Array of colors in format 0xRRGGBB, recommended that individual RGB value not to exceed 0x80 due to current draw
buffer_length Length of buffer to clear

Returns: PROS_SUCCESS if successful, PROS_ERR if not

ext_adi_led_clear_pixel

Set the entire led strip using the colors contained in the buffer.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EINVAL - A given value is not correct, or the buffer is null
  • EADDRINUSE - The port is not configured for ADI output

Analogous to pros::ADILed::clear_pixel.

Prototype
Example
ext_adi_led_clear_pixel ( ext_adi_led_t led, uint32_t* buffer, uint32_t buffer_length, uint32_t pixel_position )

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#define LED_PORT 1
#define LED_SIZE 64
#define ADI_EXPANDER_PORT 20

void initialize() {
  ext_adi_led_t led = ext_adi_led_init(ADI_EXPANDER_PORT, LED_PORT);
  uint32_t buffer[LED_SIZE];
  ext_adi_led_set_all(led, buffer, LED_SIZE, 0);
}
Parameters  
led Port of type ext_adi_led_t
buffer Array of colors in format 0xRRGGBB, recommended that individual RGB value not to exceed 0x80 due to current draw
buffer_length Length of buffer to set
pixel_position Position of the pixel to clear (0 indexed)

Returns: PROS_SUCCESS if successful, PROS_ERR if not

ext_adi_led_init

Initializes a led on the given port.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EINVAL - A given value is not correct, or the buffer is null
  • EADDRINUSE - The port is not configured for ADI output

Analogous to pros::ADILed::ADILed.

Prototype
Example
ext_adi_led_t ext_adi_led_init ( uint8_t smart_port, uint8_t adi_port )

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#define LED_PORT 1
#define ADI_EXPANDER_PORT 20

void initialize() {
  ext_adi_led_t led = ext_adi_led_init(ADI_EXPANDER_PORT, LED_PORT);
}
Parameters  
smart_port The smart port number the ADI Expander is in
adi_port The ADI port number (from 1-8, ‘a’-‘h’, ‘A’-‘H’) to initialize as an led

Returns: An ext_adi_led_t object containing the given port, or PROS_ERR if the initialization failed.

ext_adi_led_set

Set the entire led strip using the colors contained in the buffer.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EINVAL - A given value is not correct, or the buffer is null
  • EADDRINUSE - The port is not configured for ADI output
Prototype
Example
int32_t ext_adi_led_set ( ext_adi_led_t led, uint32_t* buffer, uint32_t buffer_length )

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#define LED_PORT 1
#define LED_SIZE 64
#define ADI_EXPANDER_PORT 20

void initialize() {
  ext_adi_led_t led = ext_adi_led_init(ADI_EXPANDER_PORT, LED_PORT);
  uint32_t buffer[LED_SIZE];
  for (int i = 0; i < LED_SIZE; i++) {
    buffer[i] = 0x808080;
  }
  ext_adi_led_set(led, buffer, LED_SIZE);
}
Parameters  
led Port of type ext_adi_led_t
buffer Array of colors in format 0xRRGGBB, recommended that individual RGB value not to exceed 0x80 due to current draw
buffer_length Length of buffer to set

Returns: PROS_SUCCESS if successful, PROS_ERR if not

ext_adi_led_set_all

Set the entire led strip using the colors contained in the buffer.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EINVAL - A given value is not correct, or the buffer is null
  • EADDRINUSE - The port is not configured for ADI output

Analogous to pros::ADILed::set_all.

Prototype
Example
int32_t ext_adi_led_set_all ( ext_adi_led_t led, uint32_t* buffer, uint32_t buffer_length, uint32_t color )

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#define LED_PORT 1
#define LED_SIZE 64
#define ADI_EXPANDER_PORT 20

void initialize() {
  ext_adi_led_t led = ext_adi_led_init(ADI_EXPANDER_PORT, LED_PORT);
  uint32_t buffer[LED_SIZE];
  ext_adi_led_set_all(led, buffer, LED_SIZE, 0x808080);
}
Parameters  
led Port of type ext_adi_led_t
buffer Array of colors in format 0xRRGGBB, recommended that individual RGB value not to exceed 0x80 due to current draw
buffer_length Length of buffer to set
color Color to set the entire led to

Returns: PROS_SUCCESS if successful, PROS_ERR if not

ext_adi_led_set_pixel

Set the entire led strip using the colors contained in the buffer.

This function uses the following values of errno when an error state is reached:

  • ENXIO - The given port is not within the range of ADI Ports
  • EINVAL - A given value is not correct, or the buffer is null
  • EADDRINUSE - The port is not configured for ADI output
Prototype
Example
int32_t ext_adi_led_set_pixel ( ext_adi_led_t led, uint32_t* buffer, uint32_t buffer_length, uint32_t color, uint32_t pixel_position )

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#define LED_PORT 1
#define LED_SIZE 64
#define ADI_EXPANDER_PORT 20

void initialize() {
  ext_adi_led_t led = ext_adi_led_init(ADI_EXPANDER_PORT, LED_PORT);
  uint32_t buffer[LED_SIZE];
  ext_adi_led_set_all(led, buffer, LED_SIZE, 0x808080, 0);
}
Parameters  
led Port of type ext_adi_led_t
buffer Array of colors in format 0xRRGGBB, recommended that individual RGB value not to exceed 0x80 due to current draw
buffer_length Length of buffer to set
color Color to set the entire led to
pixel_position Position of the pixel to set (0 indexed)

Returns: PROS_SUCCESS if successful, PROS_ERR if not

Macros

HIGH

Used for ext_adi_digital_write 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.

Value: 1

INPUT

ext_adi_pin_mode state for a digital input.

Value: 0x00

INPUT_ANALOG

ext_adi_pin_mode state for an analog input.

Value: 0x02

LOW

Used for ext_adi_digital_write to specify a logic LOW state to output.

In reality, using a zero expression or “false” will work to set a pin to LOW.

Value: 0

NUM_ADI_PORTS

The number of ADI ports available on the V5 Brain (from 1-8, ‘a’-‘h’, ‘A’-‘H’).

Value: 8

OUTPUT

ext_adi_pin_mode state for a digital output.

Value: 0x01

OUTPUT_ANALOG

ext_adi_pin_mode state for an analog output.

Value: 0x03

Enumerated Values

ext_adi_port_config_e_t

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typedef enum ext_adi_port_config_e {
        E_ADI_ANALOG_IN = 0,
        E_ADI_ANALOG_OUT,
        E_ADI_DIGITAL_IN,
        E_ADI_DIGITAL_OUT,

        E_ADI_LEGACY_GYRO,
        E_ADI_LEGACY_ACCELEROMETER,

        E_ADI_LEGACY_SERVO,
        E_ADI_LEGACY_PWM,

        E_ADI_LEGACY_ENCODER,
        E_ADI_LEGACY_ULTRASONIC,

        E_ADI_TYPE_UNDEFINED = 255,
        E_ADI_ERR = PROS_ERR
} ext_adi_port_config_e_t;
Value  
E_ADI_ANALOG_IN Configures the ADI port as an analog input
E_ADI_ANALOG_OUT Configures the ADI port as an analog output
E_ADI_DIGITAL_IN Configures the ADI port as a digital input
E_ADI_DIGITAL_OUT Configures the ADI port as a digital output
E_ADI_LEGACY_GYRO Configures the ADI port for use with a Cortex-Era Gyro
E_ADI_LEGACY_ACCELEROMETER Configures the ADI port for use with a Cortex-Era accelerometer
E_ADI_LEGACY_SERVO Configures the ADI port for use with a Cortex-Era servo motor
E_ADI_LEGACY_PWM Configures the ADI port for use with a Cortex-Era motor
E_ADI_LEGACY_ENCODER Configures the ADI port (and the one immediately above it) for use with a Cortex-Era Encoder
E_ADI_LEGACY_ULTRASONIC Configures the ADI port (and the one immediately above it) for use with a Cortex-Era Ultrasonic
E_ADI_TYPE_UNDEFINED The default value for an uninitialized ADI port
E_ADI_ERR Error return value for ADI port configuration