VEX GPS Sensor C++ API

Note

For a pros-specific usage guide on the GPS, please check out our article here.

Note

pros::GPS can also be used to refer pros::Gps

pros::Gps

Constructors

pros::Gps(const std::uint8_t port)
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#define GPS_PORT 1

void initialize() {
  pros::Gps gps1(GPS_PORT);
}
Parameters  
port The V5 port number from 1-21
pros::Gps(const std::uint8_t port, double xOffset, double yOffset)
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#define GPS_PORT 1
#define X_OFFSET -.225
#define Y_OFFSET .225
void initialize() {
  pros::Gps gps1(GPS_PORT, X_OFFSET, Y_OFFSET);
}
Parameters  
port The V5 port number from 1-21
xOffset Cartesian 4-Quadrant X offset from center of turning (meters)
yOffset Cartesian 4-Quadrant Y offset from center of turning (meters)
pros::Gps(const std::uint8_t port, double xOffset, double yOffset)
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#define GPS_PORT 1
#define X_INITIAL -1.15
#define Y_INITIAL 1.45
#define HEADING_INITIAL 90
void initialize() {
  pros::Gps gps1(GPS_PORT, X_INITIAL, Y_INITIAL, HEADING_INITIAL);
}
pros::Gps(const std::uint8_t port, double xInitial, double yInitial, double headingInitial, double xOffset,
                    double yOffset)
::

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

void opcontrol() {

pros::Gps gps1(GPS_PORT, X_OFFSET, Y_OFFSET, X_INITIAL, Y_INITIAL, HEADING_INITIAL); while(1) {

// Gps usage here

}

}

Parameters  
xOffset Cartesian 4-Quadrant X offset from center of turning (meters)
yOffset Cartesian 4-Quadrant Y offset from center of turning (meters)
xInitial Initial 4-Quadrant X Position, with (0,0) being at the center of the field (meters)
yInitial Initial 4-Quadrant Y Position, with (0,0) being at the center of the field (meters)
headingInitial Heading with 0 being north on the field, in degrees [0,360) going clockwise

Functions

initialize_full

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

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

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as a GPS.
  • EAGAIN - The sensor is still calibrating.
std::int32_t initialize_full(double xInitial, double yInitial, double headingInitial, double xOffset,
                   double yOffset)
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#define GPS_PORT 1
#define X_OFFSET .225
#define Y_OFFSET .223
#define X_INITIAL 1.54
#define Y_INITIAL 1.14
#define HEADING_INITIAL 90

void opcontrol() {
    pros::Gps gps1(GPS_PORT);
    gps1.initialize_full(X_OFFSET, Y_OFFSET, X_INITIAL, Y_INITIAL, HEADING_INITIAL);
    while(1) {
        // Gps usage here
    }
}
Parameters  
xOffset Cartesian 4-Quadrant X offset from center of turning (meters)
yOffset Cartesian 4-Quadrant Y offset from center of turning (meters)
xInitial Initial 4-Quadrant X Position, with (0,0) being at the center of the field (meters)
yInitial Initial 4-Quadrant Y Position, with (0,0) being at the center of the field (meters)
headingInitial Heading with 0 being north on the field, in degrees [0,360) going clockwise

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


set_offset

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

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

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as a GPS.
  • EAGAIN - The sensor is still calibrating.
std::int32_t set_offset(double xOffset, double yOffset)
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#define GPS_PORT 1
#define X_OFFSET -.225
#define Y_OFFSET .225

void opcontrol() {
    pros::Gps gps1(GPS_PORT);
    gps1.set_offset(X_OFFSET, Y_OFFSET);
    while(1){
        // GPS Usage Here
    }
}
Parameters  
xOffset Cartesian 4-Quadrant X offset from center of turning (meters)
yOffset Cartesian 4-Quadrant Y offset from center of turning (meters)

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


get_offset

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

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

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as a GPS.
  • EAGAIN - The sensor is still calibrating.
std::int32_t get_offset(double* xOffset, double* yOffset)
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#define GPS_PORT 1

void opcontrol() {
    pros::Gps gps1(GPS_PORT);
    int *x;
    int *y;

    while (true) {
        gps1.get_offset(x, y);
        pros::screen::print("Offset- x: %3f, y: %3f", *x, *y);
        pros::delay(20);
    }
}
Parameters  
xOffset Pointer to cartesian 4-Quadrant X offset from center of turning (meters)
yOffset Pointer to cartesian 4-Quadrant X offset from center of turning (meters)

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


set_position

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

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

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as a GPS.
  • EAGAIN - The sensor is still calibrating.
std::int32_t set_position(double xInitial, double yInitial, double headingInitial)
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#define GPS_PORT 1
#define X_INITIAL 0
#define Y_INITIAL 0
#define HEADING_INITIAL 0

void opcontrol() {
    pros::Gps gps1(GPS_PORT);
    gps1.set_position(X_INITIAL, Y_INITIAL, HEADING_INITIAL);
    while(1) {
        // GPS usage here
    }
}
Parameters  
xInitial Initial 4-Quadrant X Position, with (0,0) being at the center of the field (meters)
yInitial Initial 4-Quadrant Y Position, with (0,0) being at the center of the field (meters)
headingInitial Heading with 0 being north on the field, in degrees [0,360) going clockwise

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


set_data_rate

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

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

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as a GPS.
  • EAGAIN - The sensor is still calibrating.
std::int32_t set_data_rate(std::int32_t rate)
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#define GPS_PORT 1
#define DATA_RATE 5

void opcontrol() {
    pros::Gps gps1(GPS_PORT);
    gps1.set_data_rate(DATA_RATE);
    while(1) {
        // GPS Usage Here
    }
}
Parameters  
rate Data rate in milliseconds (Minimum: 5 ms)

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


get_error

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

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

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as a GPS.
  • EAGAIN - The sensor is still calibrating.
double get_error()
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#define GPS_PORT 1

void opcontrol() {
    pros::Gps gps1(GPS_PORT);
    double error;
    while(1) {
        error = gps1.get_error();
        pros::screen::print(pros::TEXT_MEDIUM, 1, "Error (RMS): %f", error);
        pros::delay(20);
    }
}

Returns: Possible RMS (Root Mean Squared) error in meters for GPS position. If the operation failed, returns PROS_ERR_F and errno is set.


get_status

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

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

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as a GPS.
  • EAGAIN - The sensor is still calibrating.
gps_status_s_t get_status()
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#define GPS_PORT 1

void opcontrol() {
    pros::Gps gps1(GPS_PORT);
    pros::gps_status_s_t status;

    while (true) {
        status = gps1.get_status();
        pros::screen::print(TEXT_MEDIUM, 1, "x: %3f, y: %3f, pitch: %3f, status.x, status.y);
        pros::screen::print(TEXT_MEDIUM, 2, "yaw: %3f, roll: %3f", status.pitch, status.yaw);
        pros::screen::print(TEXT_MEDIUM, 3, "roll: %3f", status.roll);
        pros::delay(20);
    }
}

Returns: A struct (gps_status_s_t) containing values mentioned above. If the operation failed, all the structure’s members are filled with PROS_ERR_F and errno is set.


get_heading

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

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

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as a GPS.
  • EAGAIN - The sensor is still calibrating.
double get_heading()
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#define GPS_PORT 1

void opcontrol() {
    pros::Gps gps1(GPS_PORT);
    double heading;

    while (true) {
        heading = gps1.get_heading();
        pros::screen::print(TEXT_MEDIUM, 1, "Rotation: %3f", heading);
        pros::delay(20);
    }
}

Returns: The heading in [0,360) degree values. If the operation failed, returns PROS_ERR_F and errno is set.


get_heading_raw

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

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

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as a GPS.
  • EAGAIN - The sensor is still calibrating.
double get_heading_raw()
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#define GPS_PORT 1

void opcontrol() {
    pros::Gps gps1(GPS_PORT);
    double heading;

    while (true) {
        heading = gps1.get_heading_raw();
        pros::screen::print(TEXT_MEDIUM, 1, "Heading: %3f", heading);
        pros::delay(20);
    }
}

Returns: The heading in [DOUBLE_MIN, DOUBLE_MAX] values. If the operation fails, returns PROS_ERR_F and errno is set.


get_rotation

Gets the GPS sensor’s elapsed 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 a GPS.
  • EAGAIN - The sensor is still calibrating.
double get_rotation()
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#define GPS_PORT 1

void opcontrol() {
    pros::Gps gps1(GPS_PORT);
    double elapsed_rotation;
    while(1) {
        elapsed_rotation = gps1.get_rotation();
        pros::screen::print(TEXT_MEDIUM, 1, "Rotation: %3f", elapsed_rotation);
        pros::delay(20);
    }

}

Returns: The elased heading in degrees. If the operation fails, returns PROS_ERR_F and errno is set.


set_rotation

Set the GPS sensor’s rotation value to target 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 a GPS.
  • EAGAIN - The sensor is still calibrating.
std::int32_t set_rotation(double target)
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#define GPS_PORT 1

void opcontrol() {
    pros::Gps gps1(GPS_PORT);
    gps1.set_rotation(60);
    while(1) {
        // GPS Usage Here
    }
}
Parameters  
target Target rotation value to set rotation value to

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


tare_rotation

Tare the GPS sensor’s 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 a GPS.
  • EAGAIN - The sensor is still calibrating.
std::int32_t tare_rotation()
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#define GPS_PORT 1

void opcontrol() {
    pros::Gps gps1(GPS_PORT);
    gps1.tare_rotation(); // Initial Tare (unecessary)
    while(1) {
        // GPS Usage Here
    }
}

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


get_gyro_rate

Get the GPS’s raw gyroscope values.

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

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as a GPS.
  • EAGAIN - The sensor is still calibrating.
gps_gyro_s_t get_gyro_rate()
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#define GPS_PORT 1

void opcontrol() {
    pros::Gps gps1(GPS_PORT);
    gps_gyro_s_t gyroRaw;

    while (true) {
        gyroRaw = gps1.get_gyro_rate();
        pros::screen::print("gyroscope- x: %3f, y: %3f, z: %3f", gyroRaw.x, gyroRaw.y, gyroRaw.z");
        pros::delay(20);
    }
}

Returns: The raw gyroscope values. If the operation failed, all the structure’s members are filled with PROS_ERR_F and errno is set.


get_accel

Get the GPS’s raw accelerometer values.

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

  • ENXIO - The given value is not within the range of V5 ports (1-21).
  • ENODEV - The port cannot be configured as a GPS.
  • EAGAIN - The sensor is still calibrating.
gps_accel_s_t get_accel()
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#define GPS_PORT 1

void opcontrol() {
    pros::Gps gps1(GPS_PORT);
    pros::gps_accel_s_t accel;

    while (true) {
        accel = gps1.get_accel();
        pros::screen::print("accleration- x: %3f, y: %3f, z: %3f", accel.x, accel.y, accel.z);
        pros::delay(20);
    }
}

Returns: The raw accelerometer values. If the operation failed, all the structure’s members are filled with PROS_ERR_F and errno is set.


Macros

None.

Structures

gps_status_s_t

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typedef struct __attribute__((__packed__)) gps_status_s {
      double x;
      double y;
      double pitch;
      double roll;
      double yaw;
} gps_status_s_t;
Value  
x X Position (meters)
y Y Position (meters)
pitch Percieved Pitch based on GPS and IMU
roll Percieved Roll based on GPS and IMU
yaw Percieved Yaw based on GPS and IMU

gps_raw_s

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struct gps_raw_s {
      double x;
      double y;
      double z;
};
Value  
x Raw GPS Pitch
y Raw GPS Roll
z Raw GPS Yaw

gps_accel_s_t

typedef struct gps_raw_s gps_accel_s_t;

gps_gyro_s_t

typedef struct gps_raw_s gyro_s_t;