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v5rt.h File Reference

Go to the source code of this file.

Description

The header for the VEX V5 C SDK.

This single header provides access to the entire C SDK for the VEX V5 ecosystem. It is the low-level library which Crust is built upon.

Include dependency graph for v5rt.h:

Classes

struct  time
struct  date
struct  _V5_DeviceOpticalRaw
struct  _V5_DeviceOpticalRgb
struct  _V5_DeviceOpticalGesture
struct  _V5_DevicePneumaticCtrl
struct  _V5_DeviceArmTipPosition
struct  _V5_TouchStatus

Macros

#define V5_SIG_MAGIC   0x35585658
#define IQ_SIG_MAGIC   0x32515658
#define EX_SIG_MAGIC   0x45585658
#define V5_SIG_TYPE_USER   0
#define V5_SIG_OWNER_SYS   0
#define V5_SIG_OWNER_VEX   1
#define V5_SIG_OWNER_PARTNER   2
#define V5_SIG_OPTIONS_NONE   0
#define V5_SIG_OPTIONS_INDG   (1 << 0)
#define V5_SIG_OPTIONS_EXIT   (1 << 1)
#define V5_SIG_OPTIONS_THDG   (1 << 2)
#define V5_CODE_SIG(type, owner, options)
#define V5_MAX_DEVICE_PORTS   32
#define VEX_DEVICE_GET(device, index)
#define V5_COMP_BIT_EBL   1
#define V5_COMP_BIT_MODE   2
#define V5_COMP_BIT_COMP   4
#define V5_COMP_BIT_GAME   8
#define V5_COMP_BIT_OPT1   16
#define V5_COMP_BIT_OPT2   32
#define V5_MOTOR_COUNTS_PER_ROT   1800.0
#define V5_ADI_PORT_NUM   8
#define VISION_SIG_FLAG_STATUS   (1 << 0)
#define SYSTEM_DISPLAY_WIDTH   480
#define SYSTEM_DISPLAY_HEIGHT   272
#define FS_SEEK_SET   0
#define FS_SEEK_CUR   1
#define FS_SEEK_END   2
#define FS_FILE_EXIST   1
#define FS_FILE_DIR   2

Typedefs

typedef struct _V5_Device * V5_DeviceT
typedef V5_DeviceType V5_DeviceTypeBuffer[V5_MAX_DEVICE_PORTS]
typedef enum _V5_ControllerIndex V5_ControllerIndex
typedef enum _V5_ControllerStatus V5_ControllerStatus
typedef enum _V5_ControllerId V5_ControllerId
typedef enum _V5_MotorBrakeMode V5MotorBrakeMode
typedef enum _V5MotorGearset V5MotorGearset
typedef enum _V5_AdiPortConfiguration V5_AdiPortConfiguration
typedef enum _V5_DeviceBumperState V5_DeviceBumperState
typedef enum _V5ImuHeadingnMode _V5ImuHeadingnMode
typedef enum _V5ImuOrientationMode V5ImuOrientationMode
typedef enum _V5ImuQuaternionMode V5ImuQuaternionMode
typedef struct _V5_DeviceOpticalRaw V5_DeviceOpticalRaw
typedef struct _V5_DeviceOpticalRgb V5_DeviceOpticalRgb
typedef struct _V5_DeviceOpticalGesture V5_DeviceOpticalGesture
typedef enum _V5_DeviceMagnetDuration V5_DeviceMagnetDuration
typedef struct _V5_DevicePneumaticCtrl V5_DevicePneumaticCtrl
typedef struct _V5_DeviceArmTipPosition V5_DeviceArmTipPosition
typedef enum _V5_DeviceLedColor V5_DeviceLedColor
typedef enum _touchEvent V5_TouchEvent
typedef struct _V5_TouchStatus V5_TouchStatus
typedef void FIL

Enumerations

enum  V5_DeviceType {
  kDeviceTypeNoSensor = 0 , kDeviceTypeMotorSensor = 2 , kDeviceTypeLedSensor = 3 , kDeviceTypeAbsEncSensor = 4 ,
  kDeviceTypeCrMotorSensor = 5 , kDeviceTypeImuSensor = 6 , kDeviceTypeRangeSensor = 7 , kDeviceTypeDistanceSensor = 7 ,
  kDeviceTypeRadioSensor = 8 , kDeviceTypeTetherSensor = 9 , kDeviceTypeBrainSensor = 10 , kDeviceTypeVisionSensor = 11 ,
  kDeviceTypeAdiSensor = 12 , kDeviceTypeRes1Sensor = 13 , kDeviceTypeRes2Sensor = 14 , kDeviceTypeRes3Sensor = 15 ,
  kDeviceTypeOpticalSensor = 16 , kDeviceTypeMagnetSensor = 17 , kDeviceTypeGpsSensor = 20 , kDeviceTypeAicameraSensor = 26 ,
  kDeviceTypeLightTowerSensor = 27 , kDeviceTypeArmDevice = 28 , kDeviceTypeAiVisionSensor = 29 , kDeviceTypePneumaticSensor = 30 ,
  kDeviceTypeMC55MotorSensor = 31 , kDeviceTypeBumperSensor = 0x40 , kDeviceTypeGyroSensor = 0x46 , kDeviceTypeSonarSensor = 0x47 ,
  kDeviceTypeGenericSensor = 128 , kDeviceTypeGenericSerial = 129 , kDeviceTypeUndefinedSensor = 255
}
enum  _V5_ControllerIndex {
  AnaLeftX = 0 , AnaLeftY , AnaRightX , AnaRightY ,
  AnaSpare1 , AnaSpare2 , Button5U , Button5D ,
  Button6U , Button6D , Button7U , Button7D ,
  Button7L , Button7R , Button8U , Button8D ,
  Button8L , Button8R , ButtonSEL , BatteryLevel ,
  ButtonAll , Flags , BatteryCapacity , Axis1 = AnaRightX ,
  Axis2 = AnaRightY , Axis3 = AnaLeftY , Axis4 = AnaLeftX , ButtonL1 = Button5U ,
  ButtonL2 = Button5D , ButtonR1 = Button6U , ButtonR2 = Button6D , ButtonUp = Button7U ,
  ButtonDown = Button7D , ButtonLeft = Button7L , ButtonRight = Button7R , ButtonX = Button8U ,
  ButtonB = Button8D , ButtonY = Button8L , ButtonA = Button8R
}
enum  _V5_ControllerStatus { kV5ControllerOffline = 0 , kV5ControllerTethered , kV5ControllerVexnet }
enum  _V5_ControllerId { kControllerMaster = 0 , kControllerPartner }
enum  V5MotorControlMode {
  kMotorControlModeOFF = 0 , kMotorControlModeBRAKE = 1 , kMotorControlModeHOLD = 2 , kMotorControlModeSERVO = 3 ,
  kMotorControlModePROFILE = 4 , kMotorControlModeVELOCITY = 5 , kMotorControlModeUNDEFINED = 6
}
enum  _V5_MotorBrakeMode { kV5MotorBrakeModeCoast = 0 , kV5MotorBrakeModeBrake = 1 , kV5MotorBrakeModeHold = 2 }
enum  V5MotorEncoderUnits { kMotorEncoderDegrees = 0 , kMotorEncoderRotations = 1 , kMotorEncoderCounts = 2 }
enum  _V5MotorGearset { kMotorGearSet_36 = 0 , kMotorGearSet_18 = 1 , kMotorGearSet_06 = 2 }
enum  _V5_AdiPortConfiguration {
  kAdiPortTypeAnalogIn = 0 , kAdiPortTypeAnalogOut , kAdiPortTypeDigitalIn , kAdiPortTypeDigitalOut ,
  kAdiPortTypeSmartButton , kAdiPortTypeSmartPot , kAdiPortTypeLegacyButton , kAdiPortTypeLegacyPotentiometer ,
  kAdiPortTypeLegacyLineSensor , kAdiPortTypeLegacyLightSensor , kAdiPortTypeLegacyGyro , kAdiPortTypeLegacyAccelerometer ,
  kAdiPortTypeLegacyServo , kAdiPortTypeLegacyPwm , kAdiPortTypeQuadEncoder , kAdiPortTypeSonar ,
  kAdiPortTypeLegacyPwmSlew , kAdiPortTypeUndefined = 255
}
enum  _V5_DeviceBumperState { kBumperReleased = 0 , kBumperPressed = 1 }
enum  _V5ImuHeadingnMode { kImuHeadingNative = 0x00 , kImuHeadingIQ = 0x01 }
enum  _V5ImuOrientationMode {
  kImuOrientationZUp = 0x00 , kImuOrientationZDown = 0x10 , kImuOrientationXUp = 0x20 , kImuOrientationXDown = 0x30 ,
  kImuOrientationYUp = 0x40 , kImuOrientationYDown = 0x50 , kImuOrientationAuto = 0x80
}
enum  _V5ImuQuaternionMode { kImuQuaternionProcessed = 0x000 , kImuQuaternionRaw = 0x100 }
enum  V5VisionMode { kVisionModeNormal = 0 , kVisionModeMixed = 1 , kVisionModeLineDetect = 2 , kVisionTypeTest = 3 }
enum  V5VisionBlockType { kVisionTypeNormal = 0 , kVisionTypeColorCode = 1 , kVisionTypeLineDetect = 2 }
enum  V5VisionWBMode { kVisionWBNormal = 0 , kVisionWBStart = 1 , kVisionWBManual = 2 }
enum  V5VisionLedMode { kVisionLedModeAuto = 0 , kVisionLedModeManual = 1 }
enum  V5VisionWifiMode { kVisionWifiModeOff = 0 , kVisionWifiModeOn = 1 }
enum  _V5_DeviceMagnetDuration { kMagnetDurationShort , kMagnetDurationMedium , kMagnetDurationLong , kMagnetDurationExtraLong }
enum  _V5_DeviceLedColor {
  kLedColorBlack = 0 , kLedColorRed = 0xFF0000 , kLedColorGreen = 0x00FF00 , kLedColorBlue = 0x0000FF ,
  kLedColorYellow = 0xFFFF00 , kLedColorCyan = 0x00FFFF , kLedColorMagenta = 0xFF00FF , kLedColorWhite = 0xFFFFFF
}
enum  _touchEvent { kTouchEventRelease , kTouchEventPress , kTouchEventPressAuto }
enum  FRESULT {
  FR_OK = 0U , FR_DISK_ERR , FR_INT_ERR , FR_NOT_READY ,
  FR_NO_FILE , FR_NO_PATH , FR_INVALID_NAME , FR_DENIED ,
  FR_EXIST , FR_INVALID_OBJECT , FR_WRITE_PROTECTED , FR_INVALID_DRIVE ,
  FR_NOT_ENABLED , FR_NO_FILESYSTEM , FR_MKFS_ABORTED , FR_TIMEOUT ,
  FR_LOCKED , FR_NOT_ENOUGH_CORE , FR_TOO_MANY_OPEN_FILES , FR_INVALID_PARAMETER
}

Functions

struct __attribute__ ((__packed__)) _vcodesig
void vexDelay (uint32_t timems)
void vexBackgroundProcessing (void)
uint32_t vexSystemTimeGet (void)
void vexGettime (struct time *pTime)
void vexGetdate (struct date *pDate)
void vexSystemMemoryDump (void)
void vexSystemDigitalIO (uint32_t pin, uint32_t value)
uint32_t vexSystemStartupOptions (void)
void vexSystemExitRequest (void)
uint64_t vexSystemHighResTimeGet (void)
uint64_t vexSystemPowerupTimeGet (void)
uint32_t vexSystemLinkAddrGet (void)
uint32_t vexSystemUsbStatus (void)
uint32_t vexSystemVersion (void)
uint32_t vexStdlibVersion (void)
uint32_t vexSdkVersion (void)
uint32_t vexStdlibVersionLinked (void)
bool vexStdlibVersionVerify (void)
int32_t vexDebug (char const *fmt,...)
int32_t vex_printf (char const *fmt,...)
int32_t vex_sprintf (char *out, const char *format,...)
int32_t vex_snprintf (char *out, uint32_t max_len, const char *format,...)
int32_t vex_vsprintf (char *out, const char *format, va_list args)
int32_t vex_vsnprintf (char *out, uint32_t max_len, const char *format, va_list args)
uint32_t vexDevicesGetNumber (void)
uint32_t vexDevicesGetNumberByType (V5_DeviceType type)
V5_DeviceT vexDevicesGet (void)
V5_DeviceT vexDeviceGetByIndex (uint32_t index)
int32_t vexDeviceGetStatus (V5_DeviceType *buffer)
int32_t vexDeviceGetTimestamp (V5_DeviceT device)
int32_t vexDeviceGetTimestampByIndex (int32_t index)
uint32_t vexDeviceButtonStateGet (void)
int32_t vexDeviceGenericValueGet (V5_DeviceT device)
uint32_t vexCompetitionStatus (void)
void vexCompetitionControl (uint32_t data)
int32_t vexBatteryVoltageGet (void)
int32_t vexBatteryCurrentGet (void)
double vexBatteryTemperatureGet (void)
double vexBatteryCapacityGet (void)
int32_t vexControllerGet (V5_ControllerId id, V5_ControllerIndex index)
V5_ControllerStatus vexControllerConnectionStatusGet (V5_ControllerId id)
bool vexControllerTextSet (V5_ControllerId id, uint32_t line, uint32_t col, const char *str)
void vexDeviceMotorVelocitySet (V5_DeviceT device, int32_t velocity)
void vexDeviceMotorVelocityUpdate (V5_DeviceT device, int32_t velocity)
void vexDeviceMotorVoltageSet (V5_DeviceT device, int32_t value)
int32_t vexDeviceMotorVelocityGet (V5_DeviceT device)
double vexDeviceMotorActualVelocityGet (V5_DeviceT device)
int32_t vexDeviceMotorDirectionGet (V5_DeviceT device)
void vexDeviceMotorModeSet (V5_DeviceT device, V5MotorControlMode mode)
V5MotorControlMode vexDeviceMotorModeGet (V5_DeviceT device)
void vexDeviceMotorPwmSet (V5_DeviceT device, int32_t value)
int32_t vexDeviceMotorPwmGet (V5_DeviceT device)
void vexDeviceMotorCurrentLimitSet (V5_DeviceT device, int32_t value)
int32_t vexDeviceMotorCurrentLimitGet (V5_DeviceT device)
void vexDeviceMotorVoltageLimitSet (V5_DeviceT device, int32_t value)
int32_t vexDeviceMotorVoltageLimitGet (V5_DeviceT device)
void vexDeviceMotorPositionPidSet (V5_DeviceT device, V5_DeviceMotorPid *pid)
void vexDeviceMotorVelocityPidSet (V5_DeviceT device, V5_DeviceMotorPid *pid)
int32_t vexDeviceMotorCurrentGet (V5_DeviceT device)
int32_t vexDeviceMotorVoltageGet (V5_DeviceT device)
double vexDeviceMotorPowerGet (V5_DeviceT device)
double vexDeviceMotorTorqueGet (V5_DeviceT device)
double vexDeviceMotorEfficiencyGet (V5_DeviceT device)
double vexDeviceMotorTemperatureGet (V5_DeviceT device)
bool vexDeviceMotorOverTempFlagGet (V5_DeviceT device)
bool vexDeviceMotorCurrentLimitFlagGet (V5_DeviceT device)
uint32_t vexDeviceMotorFaultsGet (V5_DeviceT device)
bool vexDeviceMotorZeroVelocityFlagGet (V5_DeviceT device)
bool vexDeviceMotorZeroPositionFlagGet (V5_DeviceT device)
uint32_t vexDeviceMotorFlagsGet (V5_DeviceT device)
void vexDeviceMotorReverseFlagSet (V5_DeviceT device, bool value)
bool vexDeviceMotorReverseFlagGet (V5_DeviceT device)
void vexDeviceMotorEncoderUnitsSet (V5_DeviceT device, V5MotorEncoderUnits units)
V5MotorEncoderUnits vexDeviceMotorEncoderUnitsGet (V5_DeviceT device)
void vexDeviceMotorBrakeModeSet (V5_DeviceT device, V5MotorBrakeMode mode)
V5MotorBrakeMode vexDeviceMotorBrakeModeGet (V5_DeviceT device)
void vexDeviceMotorPositionSet (V5_DeviceT device, double position)
double vexDeviceMotorPositionGet (V5_DeviceT device)
int32_t vexDeviceMotorPositionRawGet (V5_DeviceT device, uint32_t *timestamp)
void vexDeviceMotorPositionReset (V5_DeviceT device)
double vexDeviceMotorTargetGet (V5_DeviceT device)
void vexDeviceMotorServoTargetSet (V5_DeviceT device, double position)
void vexDeviceMotorAbsoluteTargetSet (V5_DeviceT device, double position, int32_t velocity)
void vexDeviceMotorRelativeTargetSet (V5_DeviceT device, double position, int32_t velocity)
void vexDeviceMotorGearingSet (V5_DeviceT device, V5MotorGearset value)
V5MotorGearset vexDeviceMotorGearingGet (V5_DeviceT device)
void vexDeviceMotorExternalProfileSet (V5_DeviceT device, double position, int32_t velocity)
int32_t vexDeviceMotorTypeGet (V5_DeviceT device)
void vexDeviceAdiPortConfigSet (V5_DeviceT device, uint32_t port, V5_AdiPortConfiguration type)
V5_AdiPortConfiguration vexDeviceAdiPortConfigGet (V5_DeviceT device, uint32_t port)
void vexDeviceAdiValueSet (V5_DeviceT device, uint32_t port, int32_t value)
int32_t vexDeviceAdiValueGet (V5_DeviceT device, uint32_t port)
V5_DeviceBumperState vexDeviceBumperGet (V5_DeviceT device)
void vexDeviceAbsEncReset (V5_DeviceT device)
void vexDeviceAbsEncPositionSet (V5_DeviceT device, int32_t position)
int32_t vexDeviceAbsEncPositionGet (V5_DeviceT device)
int32_t vexDeviceAbsEncVelocityGet (V5_DeviceT device)
int32_t vexDeviceAbsEncAngleGet (V5_DeviceT device)
void vexDeviceAbsEncReverseFlagSet (V5_DeviceT device, bool value)
bool vexDeviceAbsEncReverseFlagGet (V5_DeviceT device)
uint32_t vexDeviceAbsEncStatusGet (V5_DeviceT device)
void vexDeviceAbsEncDataRateSet (V5_DeviceT device, uint32_t rate)
void vexDeviceImuReset (V5_DeviceT device)
double vexDeviceImuHeadingGet (V5_DeviceT device)
double vexDeviceImuDegreesGet (V5_DeviceT device)
void vexDeviceImuQuaternionGet (V5_DeviceT device, V5_DeviceImuQuaternion *data)
void vexDeviceImuAttitudeGet (V5_DeviceT device, V5_DeviceImuAttitude *data)
void vexDeviceImuRawGyroGet (V5_DeviceT device, V5_DeviceImuRaw *data)
void vexDeviceImuRawAccelGet (V5_DeviceT device, V5_DeviceImuRaw *data)
uint32_t vexDeviceImuStatusGet (V5_DeviceT device)
void vexDeviceImuModeSet (V5_DeviceT device, uint32_t mode)
uint32_t vexDeviceImuModeGet (V5_DeviceT device)
void vexDeviceImuDataRateSet (V5_DeviceT device, uint32_t rate)
uint32_t vexDeviceDistanceDistanceGet (V5_DeviceT device)
uint32_t vexDeviceDistanceConfidenceGet (V5_DeviceT device)
int32_t vexDeviceDistanceObjectSizeGet (V5_DeviceT device)
double vexDeviceDistanceObjectVelocityGet (V5_DeviceT device)
uint32_t vexDeviceDistanceStatusGet (V5_DeviceT device)
double vexDeviceOpticalHueGet (V5_DeviceT device)
double vexDeviceOpticalSatGet (V5_DeviceT device)
double vexDeviceOpticalBrightnessGet (V5_DeviceT device)
int32_t vexDeviceOpticalProximityGet (V5_DeviceT device)
void vexDeviceOpticalRgbGet (V5_DeviceT device, V5_DeviceOpticalRgb *data)
void vexDeviceOpticalLedPwmSet (V5_DeviceT device, int32_t value)
int32_t vexDeviceOpticalLedPwmGet (V5_DeviceT device)
uint32_t vexDeviceOpticalStatusGet (V5_DeviceT device)
void vexDeviceOpticalRawGet (V5_DeviceT device, V5_DeviceOpticalRaw *data)
void vexDeviceOpticalModeSet (V5_DeviceT device, uint32_t mode)
uint32_t vexDeviceOpticalModeGet (V5_DeviceT device)
uint32_t vexDeviceOpticalGestureGet (V5_DeviceT, V5_DeviceOpticalGesture *pData)
void vexDeviceOpticalGestureEnable (V5_DeviceT)
void vexDeviceOpticalGestureDisable (V5_DeviceT)
int32_t vexDeviceOpticalProximityThreshold (V5_DeviceT device, int32_t value)
void vexDeviceOpticalIntegrationTimeSet (V5_DeviceT device, double timeMs)
double vexDeviceOpticalIntegrationTimeGet (V5_DeviceT device)
void vexDeviceVisionModeSet (V5_DeviceT device, V5VisionMode mode)
V5VisionMode vexDeviceVisionModeGet (V5_DeviceT device)
int32_t vexDeviceVisionObjectCountGet (V5_DeviceT device)
int32_t vexDeviceVisionObjectGet (V5_DeviceT device, uint32_t indexObj, V5_DeviceVisionObject *pObject)
void vexDeviceVisionSignatureSet (V5_DeviceT device, V5_DeviceVisionSignature *pSignature)
bool vexDeviceVisionSignatureGet (V5_DeviceT device, uint32_t id, V5_DeviceVisionSignature *pSignature)
void vexDeviceVisionBrightnessSet (V5_DeviceT device, uint8_t percent)
uint8_t vexDeviceVisionBrightnessGet (V5_DeviceT device)
void vexDeviceVisionWhiteBalanceModeSet (V5_DeviceT device, V5VisionWBMode mode)
V5VisionWBMode vexDeviceVisionWhiteBalanceModeGet (V5_DeviceT device)
void vexDeviceVisionWhiteBalanceSet (V5_DeviceT device, V5_DeviceVisionRgb color)
V5_DeviceVisionRgb vexDeviceVisionWhiteBalanceGet (V5_DeviceT device)
void vexDeviceVisionLedModeSet (V5_DeviceT device, V5VisionLedMode mode)
V5VisionLedMode vexDeviceVisionLedModeGet (V5_DeviceT device)
void vexDeviceVisionLedBrigntnessSet (V5_DeviceT device, uint8_t percent)
uint8_t vexDeviceVisionLedBrigntnessGet (V5_DeviceT device)
void vexDeviceVisionLedColorSet (V5_DeviceT device, V5_DeviceVisionRgb color)
V5_DeviceVisionRgb vexDeviceVisionLedColorGet (V5_DeviceT device)
void vexDeviceVisionWifiModeSet (V5_DeviceT device, V5VisionWifiMode mode)
V5VisionWifiMode vexDeviceVisionWifiModeGet (V5_DeviceT device)
struct __attribute ((packed)) _V5_DeviceAiVisionObject
void vexDeviceAiVisionModeSet (V5_DeviceT device, uint32_t mode)
uint32_t vexDeviceAiVisionModeGet (V5_DeviceT device)
int32_t vexDeviceAiVisionObjectCountGet (V5_DeviceT device)
int32_t vexDeviceAiVisionObjectGet (V5_DeviceT device, uint32_t indexObj, V5_DeviceAiVisionObject *pObject)
void vexDeviceAiVisionColorSet (V5_DeviceT device, V5_DeviceAiVisionColor *pColor)
bool vexDeviceAiVisionColorGet (V5_DeviceT device, uint32_t id, V5_DeviceAiVisionColor *pColor)
void vexDeviceAiVisionCodeSet (V5_DeviceT device, V5_DeviceAiVisionCode *pCode)
bool vexDeviceAiVisionCodeGet (V5_DeviceT device, uint32_t id, V5_DeviceAiVisionCode *pCode)
uint32_t vexDeviceAiVisionStatusGet (V5_DeviceT device)
double vexDeviceAiVisionTemperatureGet (V5_DeviceT device)
int32_t vexDeviceAiVisionClassNameGet (V5_DeviceT device, int32_t id, uint8_t *pName)
void vexDeviceAiVisionReset (V5_DeviceT device)
void vexDeviceAiVisionEnableSet (V5_DeviceT device, uint8_t nEnables, uint8_t nMask)
uint8_t vexDeviceAiVisionEnableGet (V5_DeviceT device)
void vexDeviceGpsReset (V5_DeviceT device)
double vexDeviceGpsHeadingGet (V5_DeviceT device)
double vexDeviceGpsDegreesGet (V5_DeviceT device)
void vexDeviceGpsQuaternionGet (V5_DeviceT device, V5_DeviceGpsQuaternion *data)
void vexDeviceGpsAttitudeGet (V5_DeviceT device, V5_DeviceGpsAttitude *data, bool bRaw)
void vexDeviceGpsRawGyroGet (V5_DeviceT device, V5_DeviceGpsRaw *data)
void vexDeviceGpsRawAccelGet (V5_DeviceT device, V5_DeviceGpsRaw *data)
uint32_t vexDeviceGpsStatusGet (V5_DeviceT device)
void vexDeviceGpsModeSet (V5_DeviceT device, uint32_t mode)
uint32_t vexDeviceGpsModeGet (V5_DeviceT device)
void vexDeviceGpsDataRateSet (V5_DeviceT device, uint32_t rate)
void vexDeviceGpsOriginSet (V5_DeviceT device, double ox, double oy)
void vexDeviceGpsOriginGet (V5_DeviceT device, double *ox, double *oy)
void vexDeviceGpsRotationSet (V5_DeviceT device, double value)
double vexDeviceGpsRotationGet (V5_DeviceT device)
void vexDeviceGpsInitialPositionSet (V5_DeviceT device, double initial_x, double initial_y, double initial_rotation)
double vexDeviceGpsErrorGet (V5_DeviceT device)
void vexDeviceMagnetPowerSet (V5_DeviceT device, int32_t value, int32_t time)
int32_t vexDeviceMagnetPowerGet (V5_DeviceT device)
void vexDeviceMagnetPickup (V5_DeviceT device, V5_DeviceMagnetDuration duration)
void vexDeviceMagnetDrop (V5_DeviceT device, V5_DeviceMagnetDuration duration)
double vexDeviceMagnetTemperatureGet (V5_DeviceT device)
double vexDeviceMagnetCurrentGet (V5_DeviceT device)
uint32_t vexDeviceMagnetStatusGet (V5_DeviceT device)
void vexDeviceLightTowerRgbSet (V5_DeviceT device, uint32_t rgb_value, uint32_t xyw_value)
void vexDeviceLightTowerColorSet (V5_DeviceT device, uint32_t color_id, uint32_t value)
uint32_t vexDeviceLightTowerRgbGet (V5_DeviceT device)
uint32_t vexDeviceLightTowerXywGet (V5_DeviceT device)
uint32_t vexDeviceLightTowerStatusGet (V5_DeviceT device)
void vexDeviceLightTowerBlinkSet (V5_DeviceT device, uint8_t select, uint8_t mask, int32_t onTime, int32_t offTime)
void vexDevicePneumaticCompressorSet (V5_DeviceT device, bool bState)
void vexDevicePneumaticCylinderSet (V5_DeviceT device, uint32_t id, bool bState)
void vexDevicePneumaticCtrlSet (V5_DeviceT device, V5_DevicePneumaticCtrl *pCtrl)
uint32_t vexDevicePneumaticStatusGet (V5_DeviceT device)
void vexDevicePneumaticPwmSet (V5_DeviceT device, uint8_t pwm)
uint32_t vexDevicePneumaticPwmGet (V5_DeviceT device)
void vexDevicePneumaticCylinderPwmSet (V5_DeviceT device, uint32_t id, bool bState, uint8_t pwm)
uint32_t vexDevicePneumaticActuationStatusGet (V5_DeviceT device, uint16_t *ac1, uint16_t *ac2, uint16_t *ac3, uint16_t *ac4)
void vexDeviceLedSet (V5_DeviceT device, V5_DeviceLedColor value)
void vexDeviceLedRgbSet (V5_DeviceT device, uint32_t color)
V5_DeviceLedColor vexDeviceLedGet (V5_DeviceT device)
uint32_t vexDeviceLedRgbGet (V5_DeviceT device)
void vexDeviceGyroReset (V5_DeviceT device)
double vexDeviceGyroHeadingGet (V5_DeviceT device)
double vexDeviceGyroDegreesGet (V5_DeviceT device)
int32_t vexDeviceSonarValueGet (V5_DeviceT device)
int32_t vexDeviceRangeValueGet (V5_DeviceT device)
void vexDeviceGenericSerialEnable (V5_DeviceT device, int32_t options)
void vexDeviceGenericSerialBaudrate (V5_DeviceT device, int32_t baudrate)
int32_t vexDeviceGenericSerialWriteChar (V5_DeviceT device, uint8_t c)
int32_t vexDeviceGenericSerialWriteFree (V5_DeviceT device)
int32_t vexDeviceGenericSerialTransmit (V5_DeviceT device, uint8_t *buffer, int32_t length)
int32_t vexDeviceGenericSerialReadChar (V5_DeviceT device)
int32_t vexDeviceGenericSerialPeekChar (V5_DeviceT device)
int32_t vexDeviceGenericSerialReceiveAvail (V5_DeviceT device)
int32_t vexDeviceGenericSerialReceive (V5_DeviceT device, uint8_t *buffer, int32_t length)
void vexDeviceGenericSerialFlush (V5_DeviceT device)
void vexDeviceGenericRadioConnection (V5_DeviceT device, char *pName, bool bMaster, bool bAllowRadioOverride)
int32_t vexDeviceGenericRadioWriteChar (V5_DeviceT device, uint8_t c)
int32_t vexDeviceGenericRadioWriteFree (V5_DeviceT device)
int32_t vexDeviceGenericRadioTransmit (V5_DeviceT device, uint8_t *buffer, int32_t length)
int32_t vexDeviceGenericRadioReadChar (V5_DeviceT device)
int32_t vexDeviceGenericRadioPeekChar (V5_DeviceT device)
int32_t vexDeviceGenericRadioReceiveAvail (V5_DeviceT device)
int32_t vexDeviceGenericRadioReceive (V5_DeviceT device, uint8_t *buffer, int32_t length)
void vexDeviceGenericRadioFlush (V5_DeviceT device)
bool vexDeviceGenericRadioLinkStatus (V5_DeviceT device)
int32_t vexSerialWriteChar (uint32_t channel, uint8_t c)
int32_t vexSerialWriteBuffer (uint32_t channel, uint8_t *data, uint32_t data_len)
int32_t vexSerialReadChar (uint32_t channel)
int32_t vexSerialPeekChar (uint32_t channel)
int32_t vexSerialWriteFree (uint32_t channel)
void vexDisplayForegroundColor (uint32_t col)
void vexDisplayBackgroundColor (uint32_t col)
uint32_t vexDisplayForegroundColorGet (void)
uint32_t vexDisplayBackgroundColorGet (void)
void vexDisplayErase (void)
void vexDisplayScroll (int32_t nStartLine, int32_t nLines)
void vexDisplayScrollRect (int32_t x1, int32_t y1, int32_t x2, int32_t y2, int32_t nLines)
void vexDisplayCopyRect (int32_t x1, int32_t y1, int32_t x2, int32_t y2, uint32_t *pSrc, int32_t srcStride)
void vexDisplayPixelSet (uint32_t x, uint32_t y)
void vexDisplayPixelClear (uint32_t x, uint32_t y)
void vexDisplayLineDraw (int32_t x1, int32_t y1, int32_t x2, int32_t y2)
void vexDisplayLineClear (int32_t x1, int32_t y1, int32_t x2, int32_t y2)
void vexDisplayRectDraw (int32_t x1, int32_t y1, int32_t x2, int32_t y2)
void vexDisplayRectClear (int32_t x1, int32_t y1, int32_t x2, int32_t y2)
void vexDisplayRectFill (int32_t x1, int32_t y1, int32_t x2, int32_t y2)
void vexDisplayCircleDraw (int32_t xc, int32_t yc, int32_t radius)
void vexDisplayCircleClear (int32_t xc, int32_t yc, int32_t radius)
void vexDisplayCircleFill (int32_t xc, int32_t yc, int32_t radius)
void vexDisplayPrintf (int32_t xpos, int32_t ypos, uint32_t bOpaque, const char *format,...)
void vexDisplayString (const int32_t nLineNumber, const char *format,...)
void vexDisplayStringAt (int32_t xpos, int32_t ypos, const char *format,...)
void vexDisplayBigString (const int32_t nLineNumber, const char *format,...)
void vexDisplayBigStringAt (int32_t xpos, int32_t ypos, const char *format,...)
void vexDisplaySmallStringAt (int32_t xpos, int32_t ypos, const char *format,...)
void vexDisplayCenteredString (const int32_t nLineNumber, const char *format,...)
void vexDisplayBigCenteredString (const int32_t nLineNumber, const char *format,...)
void vexDisplayVPrintf (int32_t xpos, int32_t ypos, uint32_t bOpaque, const char *format, va_list args)
void vexDisplayVString (const int32_t nLineNumber, const char *format, va_list args)
void vexDisplayVStringAt (int32_t xpos, int32_t ypos, const char *format, va_list args)
void vexDisplayVBigString (const int32_t nLineNumber, const char *format, va_list args)
void vexDisplayVBigStringAt (int32_t xpos, int32_t ypos, const char *format, va_list args)
void vexDisplayVSmallStringAt (int32_t xpos, int32_t ypos, const char *format, va_list args)
void vexDisplayVCenteredString (const int32_t nLineNumber, const char *format, va_list args)
void vexDisplayVBigCenteredString (const int32_t nLineNumber, const char *format, va_list args)
void vexDisplayTextSize (uint32_t n, uint32_t d)
void vexDisplayFontNamedSet (const char *pFontName)
int32_t vexDisplayStringWidthGet (const char *pString)
int32_t vexDisplayStringHeightGet (const char *pString)
bool vexDisplayRender (bool bVsyncWait, bool bRunScheduler)
void vexDisplayDoubleBufferDisable (void)
void vexDisplayClipRegionSet (int32_t x1, int32_t y1, int32_t x2, int32_t y2)
void vexDisplayClipRegionClear ()
uint32_t vexImageBmpRead (const uint8_t *ibuf, v5_image *oBuf, uint32_t maxw, uint32_t maxh)
uint32_t vexImagePngRead (const uint8_t *ibuf, v5_image *oBuf, uint32_t maxw, uint32_t maxh, uint32_t ibuflen)
void vexTouchUserCallbackSet (void(*callback)(V5_TouchEvent, int32_t, int32_t))
bool vexTouchDataGet (V5_TouchStatus *status)
FRESULT vexFileMountSD (void)
FRESULT vexFileDirectoryGet (const char *path, char *buffer, uint32_t len)
FIL * vexFileOpen (const char *filename, const char *mode)
FIL * vexFileOpenWrite (const char *filename)
FIL * vexFileOpenCreate (const char *filename)
void vexFileClose (FIL *fdp)
int32_t vexFileRead (char *buf, uint32_t size, uint32_t nItems, FIL *fdp)
int32_t vexFileWrite (char *buf, uint32_t size, uint32_t nItems, FIL *fdp)
int32_t vexFileSize (FIL *fdp)
FRESULT vexFileSeek (FIL *fdp, uint32_t offset, int32_t whence)
bool vexFileDriveStatus (uint32_t drive)
int32_t vexFileTell (FIL *fdp)
void vexFileSync (FIL *fdp)
uint32_t vexFileStatus (const char *filename)
int32_t vexScratchMemoryPtr (void **ptr)
bool vexScratchMemoryLock (void)
void vexScratchMemoryUnlock (void)
void vexSystemTimerStop ()
void vexSystemTimerClearInterrupt ()
int32_t vexSystemTimerReinitForRtos (uint32_t priority, void(*handler)(void *data))
void vexSystemApplicationIRQHandler (uint32_t ulICCIAR)
int32_t vexSystemWatchdogReinitRtos (void)
uint32_t vexSystemWatchdogGet (void)
void vexSystemBoot (void)
void vexSystemUndefinedException (void)
void vexSystemFIQInterrupt (void)
void vexSystemIRQInterrupt (void)
void vexSystemSWInterrupt (void)
void vexSystemDataAbortInterrupt (void)
void vexSystemPrefetchAbortInterrupt (void)

Variables

 vcodesig
 V5_DeviceMotorPid
 V5_DeviceImuQuaternion
 V5_DeviceImuAttitude
 V5_DeviceImuRaw
 V5_DeviceVisionSignature
 V5_DeviceVisionObject
 V5_DeviceVisionRgb
 V5_DeviceAiVisionObject
 V5_DeviceAiVisionColor
 V5_DeviceAiVisionCode
 V5_DeviceGpsQuaternion
 V5_DeviceGpsAttitude
 V5_DeviceGpsRaw
 V5_DeviceAicamObject
 v5_image

Macro Definition Documentation

◆ V5_CODE_SIG

#define V5_CODE_SIG ( type,
owner,
options )
Value:
vcodesig vexCodeSig __attribute__((section(".boot_data"))) = {V5_SIG_MAGIC, type, owner, options};

◆ VEX_DEVICE_GET

#define VEX_DEVICE_GET ( device,
index )
Value:
V5_DeviceT device = vexDeviceGetByIndex(index)