VEX Rotation Sensor C API

Functions

rotation_reset

Reset the current absolute position to be the same as the Rotation Sensor angle.

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

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as an Rotation Sensor.

Analogous to pros::Rotation::reset.

Prototype
Example
int32_t rotation_reset(uint8_t port);

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#define ROTATION_PORT 1

void opcontrol() {
  while (true) {

    if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
        rotation_reset(ROTATION_PORT);
    }
    delay(20);
  }
}
Parameters  
port The V5 port number from (1-21)

Returns: 1 if operation successful or PROS_ERR if the operation failed, setting errno.

rotation_set_position

Set the Rotation sensor to a desired rotation value.

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

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as an Rotation Sensor.

Analogous to pros::Rotation::set_position.

Prototype
Example
int32_t rotation_set_position(uint8_t port, uint32_t position);

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#define ROTATION_PORT 1

void opcontrol() {
  while (true) {

    if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
        rotation_set_position(ROTATION_PORT, 600);
    }
    delay(20);
  }
}
Parameters  
port The V5 port number from (1-21)
position The desired position to be set in terms of hundreths of ticks

Returns: 1 if operation successful or PROS_ERR if the operation failed, setting errno.

rotation_reset_position

Reset the Rotation Sensor position to 0.

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

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as an Rotation Sensor.

Analogous to pros::Rotation::reset_position.

Prototype
Example
int32_t rotation_reset_position(uint8_t port);

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#define ROTATION_PORT 1

void opcontrol() {
  while (true) {

    if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
        rotation_reset_position(ROTATION_PORT);
    }
    delay(20);
  }
}
Parameters  
port The V5 port number from (1-21)

Returns: 1 if operation successful or PROS_ERR if the operation failed, setting errno.

rotation_get_position

Get the Rotation Sensor’s current position in centidegrees

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

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as a Rotation Sensor.

Analogous to pros::Rotation::get_position.

Prototype
Example
int32_t rotation_get_position(uint8_t port);

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#define ROTATION_PORT 1

void opcontrol() {
  while (true) {
    printf("Position: %d Ticks \n", rotation_get_position(ROTATION_PORT));
    delay(20);
  }
}
Parameters  
port The V5 port number from (1-21)

Returns: Rotation sensor’s absolute position in ticks or PROS_ERR if the operation failed, setting errno.

rotation_get_velocity

Get the Rotation Sensor’s current velocity in centidegrees per second

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

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as a Rotation Sensor.

Analogous to pros::Rotation::get_velocity.

Prototype
Example
int32_t rotation_get_velocity(uint8_t port);

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#define ROTATION_PORT 1

void opcontrol() {
  while (true) {
    printf("Velocity: %d Ticks \n", rotation_get_velocity(ROTATION_PORT));
    delay(20);
  }
}
Parameters  
port The V5 port number from (1-21)

Returns: Rotation sensor’s rotational velocity or PROS_ERR if the operation failed, setting errno.

rotation_get_angle

Get the Rotation Sensor’s current position in centidegrees

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

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as a Rotation Sensor.

Analogous to pros::Rotation::get_angle.

Prototype
Example
int32_t rotation_get_angle(uint8_t port);

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#define ROTATION_PORT 1

void opcontrol() {
  while (true) {
    printf("Angle: %d Ticks \n", rotation_get_angle(ROTATION_PORT));
    delay(20);
  }
}
Parameters  
port The V5 port number from (1-21)

Returns: Rotation sensor’s current angle from 0 to 36000 or PROS_ERR if the operation failed, setting errno.

rotation_set_reversed

Reverse the Rotation Sensor’s direction

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

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as an Rotation Sensor.

Analogous to pros::Rotation::set_reversed.

Prototype
Example
int32_t rotation_set_reversed(uint8_t port)

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#define ROTATION_PORT 1

void opcontrol() {
  pros::Rotation rotation_sensor(ROTATION_PORT);
  while (true) {
   if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
        rotation_set_reversed(ROTATION_PORT);
    }
    pros::delay(20);
  }
}
Parameters  
port The V5 port number from (1-21)

Returns: 1 if operation was successful or PROS_ERR if the operation failed, setting errno.

rotation_reverse

Reverses the rotational sensor’s positive counterclockwise/clockwise direction.

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

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as an Rotation Sensor.

Analogous to pros::Rotation::reverse.

Prototype
Example
int32_t rotation_reverse(uint8_t port)

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#define ROTATION_PORT 1

void opcontrol() {
  pros::Rotation rotation_sensor(ROTATION_PORT);
  while (true) {
   if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
        rotation_reverse(ROTATION_PORT);
    }
    pros::delay(20);
  }
}
Parameters  
port The V5 port number from (1-21)

Returns: 1 if operation was successful or PROS_ERR if the operation failed, setting errno.

rotation_get_reversed

Get the Rotation Sensor’s reversed flag

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

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as an Rotation Sensor.

Analogous to pros::Rotation::get_reversed.

Prototype
Example
int32_t rotation_get_reverse(uint8_t port)

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#define ROTATION_PORT 1

void opcontrol() {
  pros::Rotation rotation_sensor(ROTATION_PORT);
  while (true) {
   if(controller_get_digital(CONTROLLER_MASTER, E_CONTROLLER_DIGITAL_X)){
        rotation_get_reversed(ROTATION_PORT);
    }
    pros::delay(20);
  }
}
Parameters  
port The V5 port number from (1-21)

Returns: Boolean value of Rotation Sensor’s reversed flag or PROS_ERR if the operation failed, setting errno.