Update for 2024 bot

.clang-format

@@ -9,7 +9,7 @@
 #   https://clang.llvm.org/docs/ClangFormatStyleOptions.html
 #
 ---
-AccessModifierOffset: -4
+AccessModifierOffset: 0
 AlignAfterOpenBracket: Align
 AlignConsecutiveAssignments: false
 AlignConsecutiveDeclarations: false
@@ -643,6 +643,7 @@ IndentGotoLabels: false
 IndentPPDirectives: None
 IndentWidth: 8
 IndentWrappedFunctionNames: false
+IndentAccessModifiers: false
 JavaScriptQuotes: Leave
 JavaScriptWrapImports: true
 KeepEmptyLinesAtTheStartOfBlocks: false

common.mk

@@ -201,7 +201,7 @@ library: $(LIBAR)
 
 .PHONY: template
 template: clean-template $(LIBAR)
-	$Dprosv5 c create-template . $(LIBNAME) $(VERSION) $(foreach file,$(TEMPLATE_FILES) $(LIBAR),--system "$(file)") --target v5 $(CREATE_TEMPLATE_FLAGS)
+	$Dpros c create-template . $(LIBNAME) $(VERSION) $(foreach file,$(TEMPLATE_FILES) $(LIBAR),--system "$(file)") --target v5 $(CREATE_TEMPLATE_FLAGS)
 endif
 
 # if project is a library source, compile the archive and link output.elf against the archive rather than source objects
@@ -280,7 +280,7 @@ $(VV)mkdir -p $(dir $(LDTIMEOBJ))
 @# The shell command $$(($$(date +%s)+($$(date +%-z)/100*3600))) fetches the current
 @# unix timestamp, and then adds the UTC timezone offset to account for time zones.
 
-$(call test_output_2,Adding timestamp ,echo 'const int _PROS_COMPILE_TIMESTAMP_INT = $(shell echo $$(($$(date +%s)+($$(date +%-z)/100*3600)))); char const * const _PROS_COMPILE_TIMESTAMP = __DATE__ " " __TIME__; char const * const _PROS_COMPILE_DIRECTORY = "$(shell pwd | tail -c 23)";' | $(CC) -c -x c $(CFLAGS) $(EXTRA_CFLAGS) -o $(LDTIMEOBJ) -,$(OK_STRING))
+$(call test_output_2,Adding timestamp ,echo 'const int _PROS_COMPILE_TIMESTAMP_INT = $(shell echo $$(($$(date +%s)+($$(date +%-z)/100*3600)))); char const * const _PROS_COMPILE_TIMESTAMP = __DATE__ " " __TIME__; char const * const _PROS_COMPILE_DIRECTORY = "$(wildcard $(shell pwd | tail -c 23))";' | $(CC) -c -x c $(CFLAGS) $(EXTRA_CFLAGS) -o $(LDTIMEOBJ) -,$(OK_STRING))
 endef
 
 # these rules are for build-compile-commands, which just print out sysroot information

include/api.h

@@ -8,7 +8,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
@@ -40,9 +40,9 @@
 #endif /* __cplusplus */
 
 #define PROS_VERSION_MAJOR 3
-#define PROS_VERSION_MINOR 7
-#define PROS_VERSION_PATCH 3
-#define PROS_VERSION_STRING "3.7.3"
+#define PROS_VERSION_MINOR 8
+#define PROS_VERSION_PATCH 0
+#define PROS_VERSION_STRING "3.8.0"
 
 #include "pros/adi.h"
 #include "pros/colors.h"

include/pros/adi.h

@@ -8,7 +8,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this

include/pros/adi.hpp

@@ -8,7 +8,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
@@ -494,10 +494,13 @@ class ADIEncoder : private ADIPort {
 	 * 		  sensor with the removable cover side up, and the "bottom" wire from
 	 * 		  the encoder sensor
 	 * \param reverse
-	 *        If "true", the sensor will count in theopposite direction
+	 *        If "true", the sensor will count in the opposite direction
 	 */
 	ADIEncoder(ext_adi_port_tuple_t port_tuple, bool reversed = false);
 
+	// Delete copy constructor to prevent a compilation error from the constructor above.
+	ADIEncoder(ADIEncoder &) = delete;
+
 	/**
 	 * Sets the encoder value to zero.
 	 *

include/pros/api_legacy.h

@@ -10,7 +10,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public

include/pros/apix.h

@@ -12,7 +12,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public

include/pros/distance.h

@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this

include/pros/error.h

@@ -6,7 +6,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this

include/pros/ext_adi.h

@@ -8,7 +8,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this

include/pros/gps.h

@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this

include/pros/gps.hpp

@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this

include/pros/imu.h

@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this

include/pros/imu.hpp

@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this

include/pros/link.h

@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this

include/pros/link.hpp

@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2021, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this

include/pros/llemu.h

@@ -13,7 +13,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this

include/pros/llemu.hpp

@@ -13,7 +13,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this

include/pros/misc.h

@@ -10,7 +10,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reservered.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public

include/pros/misc.hpp

@@ -10,7 +10,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reservered.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public

include/pros/motors.h

@@ -9,7 +9,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this

include/pros/motors.hpp

@@ -461,6 +461,7 @@ class Motor {
 	 *
 	 * \return The motor's voltage in mV or PROS_ERR_F if the operation failed,
 	 * setting errno.
+	 * 
 	 */
 	virtual std::int32_t get_voltage(void) const;
 
@@ -859,8 +860,11 @@ class Motor {
 
 class Motor_Group {
 	public:
-	explicit Motor_Group(const std::initializer_list<Motor> motors);
-	explicit Motor_Group(const std::vector<std::int8_t> motor_ports);
+	Motor_Group(const std::initializer_list<Motor> motors);
+	explicit Motor_Group(const std::vector<pros::Motor>& motors);
+	explicit Motor_Group(const std::initializer_list<std::int8_t> motor_ports);
+	explicit Motor_Group(const std::vector<std::int8_t> motor_ports); // Pass by value to preserve ABI
+
 	/****************************************************************************/
 	/**                      Motor Group movement functions                    **/
 	/**                                                                        **/
@@ -1014,6 +1018,101 @@ class Motor_Group {
 	 * failed, setting errno.
 	 */
 	std::int32_t brake(void);
+
+	/* 
+	 * Gets the voltages delivered to the motors in millivolts.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENODEV - The port cannot be configured as a motor
+	 * EACCESS - The Motor group mutex can't be taken or given
+	 * 
+	 * \return The voltage of the motor in millivolts or PROS_ERR_F if the operation
+	 * failed, setting errno.
+	 * 
+	 * \b Example
+	 * \code
+	 * void opcontrol() {
+	 *   pros::Motor_Group motors({1, 2});
+	 *   std::vector<std::uint32_t> voltages;
+	 *   while (true) {
+	 * 	   voltages = motors.get_voltages();
+	 * 
+	 *     for (uint32_t i = 0; i < voltages.size(); i++) {
+	 * 	     printf("Voltages: %ld\n", voltages[i]);
+	 *     }
+	 *     pros::delay(20);
+	 *   }
+	 * }
+	 * \endcode
+	 * 
+	 */
+	std::vector<std::uint32_t> get_voltages(void);
+
+	/* 
+	 * Get the voltage limits of the motors set by the user.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENODEV - The port cannot be configured as a motor
+	 * EACCESS - The Motor group mutex can't be taken or given
+	 * 
+	 * \return The voltage limit of the motor in millivolts or PROS_ERR_F if the operation
+	 * failed, setting errno.
+	 * 
+	 * \b Example
+	 * \code
+	 * void opcontrol() {
+	 *   pros::Motor_Group motors({1, 2});
+	 *   std::vector<std::uint32_t> voltage_limits;
+	 *   while (true) {
+	 * 	   voltage_limits = motors.get_voltage_limits();
+	 * 
+	 *     for (uint32_t i = 0; i < voltage_limits.size(); i++) {
+	 * 	     printf("Voltage Limits: %ld\n", voltage_limits[i]);
+	 *     }
+	 *     pros::delay(20);
+	 *   }
+	 * }
+	 * \endcode
+	 */
+	std::vector<std::uint32_t> get_voltage_limits(void);
+
+	/* 
+	 * Gets the raw encoder positions of a motor group at a given timestamp.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENODEV - The port cannot be configured as a motor
+	 * EACCESS - The Motor group mutex can't be taken or given
+	 * 	
+	 * \return A vector of the raw encoder positions of the motors in the motor group
+	 * based on the timestamps passed in. If a timestamp is not found for a motor, the
+	 * value at that index will be PROS_ERR.
+	 * 
+	 * \b Example
+	 * \code
+	 * void opcontrol() {
+	 *   pros::Motor_Group motors({1, 2});
+	 *   std::vector<std::uint32_t*> timestamps;
+	 *   std::vector<std::int32_t> positions;
+	 * 	 std::uint32_t temp = 0;
+	 *   std::uint32_t temp2 = 0;
+	 *   timestamps.push_back(&temp);
+	 *   timestamps.push_back(&temp2);
+	 * 
+	 *   while (true) {
+	 *     positions = motors.get_raw_positions(timestamps);
+	 * 
+	 *     printf("Position: %ld, Time: %ln\n", positions[0], timestamps[0]);
+     *	   printf("Position: %ld, Time: %ln\n", positions[1], timestamps[1]);
+	 *
+	 *     pros::delay(20);
+	 *   }
+	 * }
+	 * \endcode
+	 */
+	std::vector<std::int32_t> get_raw_positions(std::vector<std::uint32_t*> &timestamps);
 	/****************************************************************************/
 	/**                      Motor configuration functions                     **/
 	/**                                                                        **/
@@ -1036,6 +1135,20 @@ class Motor_Group {
 	pros::Motor& operator[](int i);
 
 
+	/**
+	 * Indexes Motor in the Motor_Group.
+	 * 
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * Throws an std::out_of_range error when indexing out of range
+	 * 
+	 * \param i
+	 *        The index value in the motor group.
+	 *
+	 * \return the appropriate Motor reference.
+	 */ 	
+	pros::Motor& at(int i);
+
 	/**
 	 * Indexes Motor in the Motor_Group in the same way as an array.
 	 * 
@@ -1341,6 +1454,19 @@ class Motor_Group {
 	 * E_MOTOR_ENCODER_INVALID if the operation failed.
 	 */
 	std::vector<pros::motor_encoder_units_e_t> get_encoder_units(void);
+
+	/**
+	 * Gets the encoder units that were set for each motor.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENODEV - The port cannot be configured as a motor
+	 * EACCESS - The Motor group mutex can't be taken or given
+	 *
+	 * \return The vector filled with motors' temperature in degrees Celsius or PROS_ERR_F if the
+ 	 * operation failed, setting errno.
+	 */
+	virtual std::vector<double> get_temperatures(void);
 
 	private:
 	std::vector<Motor> _motors;