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CHANGELOG.md

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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

Unreleased

Added

Fixed

Changed

Removed

[0.9.0]

Added

  • New Motor API (Breaking Change) (#66)

    • Added MotorControl enum for controlling motor targets (#66).
    • Added support for onboard velocity and position control in motors (#66).
    • Added missing motor telemetry functions velocity, efficiency, gearset, current_limit.
    • Added support for current and voltage limiting in motors.
    • Added Motor::raw_position for getting raw IME ticks at a given timestamp.
    • Added support for getting motor fault flags (e.g. over-temperature, over-current, H-bridge faults).
    • Added support for internal motor PID tuning. Feature gated behind dangerous_motor_tuning, as this can cause hardware damage and is not recommended.
    • Added various constants for convenience around Motor and Gearset.

  • Added Controller API to the pros::prelude module. (#108)

  • relative_size method on DistanceSensor for getting a guess at an object's relative size. (#73)

Fixed

  • pros_sys bindings to the Motors C API now takes the correct port type (i8) as of PROS 4 (Breaking Change) (#66).
  • Fixed the unintended unsafe context present in the sync_robot and async_robot family of macros (Breaking Change) (#107).

Changed

  • Renamed DistanceSensor::object_velocity to DistanceSensor::velocity.
  • Adjusted distance_confidence to return a value from [0.0, 1.0] rather than 0-100 to match other percentage getters.
  • Refactored the Motor API (Breaking Change) (#66)
    • Adjusts constructor arguments for Motor to allow passing Gearset and a direction instead of brake_mode at construction. (Breaking Change) (#66)
    • Renamed Motor::get_state to Motor::state. (Breaking Change) (#66)
    • Changed Motor::reversed to return Result<bool, _>`` rather than just falseifPROS_ERR` is returned. (Breaking Change) (#66)
    • Adjusted motor targeting to work around the MotorControl enum.
    • Adjusted motor reverse flag to use Direction enum rather than a boolean.
    • Motor braking is now stateless and requires an explicit method to be called to use BrakeModes other than BrakeMode::Coast.
    • Renamed Motor::current_draw to Motor::current.
    • Renamed Motor::get_state to Motor::status.
  • Status structs containing device bits now use the bitflags! crate. (Breaking Change) (#66)
  • Renamed InertialSensor::calibrating to InertialSensor::calibrating (Breaking CHange) (#66)
  • AdiEncoder now returns Position rather than just degrees (Breaking Change) (#106).

Removed

  • Removed MotorStoppedFuture, as it was broken due to hardware not returning the stopped flag (Breaking Change) (#66).
  • Removed Motor::set_output and Motor::set_raw_output in favor of set_voltage.

0.8.0

Added

  • Added feedforward motor controllers (#80)
  • Lightly document all APIs with missing documentation. (#70)
  • Added Debug, Copy, and Clone derives for common structs (#70)
  • Screen drawing API. (#81)
  • Added screen field to Peripherals and DynamicPeripherals::take_screen method. (#81)
  • Added AdiSolenoid, a wrapper over AdiDigitalOut for actuating SMC pneumatic solenoids. (#61)
  • Added AdiSwitch, another AdiDigitalOut wrapper that abstracts bumper switches and limit switches. (#61)
  • Added AdiLineTracker for abstracting the EDR line tracker sensor.
  • Implemented TryFrom for Gearset.
  • Adds support for getting brake modes from motors. (#66)

Fixed

  • Fix error handling and error type variats in ADI bindings
  • Fix AsynRobot only running opcontrol
  • Properly handle EADDRINUSE return for smart port errors (Breaking Change) (#97)

Changed

  • Re-exported printing macros from pros::io. (#82)
  • Applied several lints to improve code quality. (#70)
  • Updated to PROS version 4. (Breaking Change) (#81)
  • Moved vision::Rgb into its own color.rs file. (Breaking Change) (#81)
  • The VEXOS target has been updated to improve file size and floating point operation speed. (#81)
  • Peripherals::new() is no longer const (**Breaking Change) (#81)
  • Updated panic handler to print to the brain display as well as over serial (#81)
  • Refactors digital and analog ADI input/output. (Breaking Change) (#61)
    • Adds LogicLevel rather than bools for controlling digital devices.
    • Adds 0-5V voltage getters and setters for analog ADI.
    • Changed analog getters and setters to use u16 data.
  • Changed AdiPotentiometer to return degrees rather than tenth degrees (Breaking Change) (#61).
    • Renamed AdiPotentiometer::value to AdiPotentiometer::angle.
  • Refactors AdiMotor to match the smart motor APIs, having output/raw output getters/setters.
  • Renamed AdiUltrasonic::value to AdiUltrasonic::distance (Breaking Change) (#61).
  • Renamed AdiEncoder::value to AdiEncoder::position (Breaking Change) (#61).
  • Repurposed AdiAnalogOut as AdiPwmOut to correct match port output. (Breaking Change) (#90).
  • Moved most device-related constants into their associated struct impl (Breaking Change) (#98).
  • Renamed IMU_RESET_TIMEOUT to InertialSensor::CALIBRATION_TIMEOUT (Breaking Change) (#98).
  • Repurposed the pros crate as a metapackage without any code of its own. (Breaking Change) (#86)
  • Split the pros-rs into several small subcrates. (Breaking Change) (#86)
    • pros-async with the async executor and robot trait.
    • pros-devices for device bindings.
    • pros-sync for the sync robot trait.
    • pros-core with basic abstractions over pros-sys needed to compile a program to the brain.
    • pros-math with commonly used controllers and other mathematical models.
    • pros-panic for the panic handler implementation.

Removed

  • LVGL bindings (pros-sys) and colors (pros). (Breaking Change) (#81)
  • LLEMU/lcd bindings. (Breaking Change) (#81)
  • Re-exported printing macros from pros::io. (#82)
  • Applied several lints to improve code quality. (#70)
  • Removed the confusingly named write, ewrite, writeln, and ewriteln macros. (Breaking Change) (#82)
  • Removed AdiDigitalIn::new_press, instead swapping it for AdiSwitch::was_pressed. (Breaking Change) (#61)

0.7.0

Added

  • SmartPort struct for device access. (#34)
  • SmartDevice trait for common functionality across smart port devices. (#34)
  • Methods to get a device's port number as well as determine if the device is plugged in or not. (#34)
  • Added various missing derives for hardware-related data structures. (#34)
  • CompetitionSystem and CompetitionMode structs for better retrieving information about the robot's competition state. (#38)
  • competition::system method for retrieving the type of competition control the robot is connected to. (#38)
  • New From implementation to convert Quaternion and Euler to their pros-sys equivalents. (#45)
  • pros::io module for I/O related operations. (#30)
  • Various types from the no_std_io have are re-exported from this module to provide missing functionality from std. (#30)
  • Macros for printing to stdout (println, print, eprintln, etc...) (#30)
  • All ADI device bindings (#55)
  • LocalKey now has Cell/RefCell-specific methods for setting and taking values. (#42)
  • Peripherals and DynamicPeripherals structs to ensure that you have only registered one device on a given smart or ADI port. (#53)
  • Support for ADI Expander modules with AdiExpander. (#63)

Fixed

  • Fixed competition state-related getters in the pros::competition module. (#38)
  • Fixed error handling in IMU sensor bindings. (#37)
  • Fixed errors in doctests and examples throughout the crate. (#37)
  • Fixed Missing ERRNO and ADI config variants in pros-sys (#55)
  • Fixed incorrect error handling with InertialSensor::status. (#65)
  • Controller::status now handles errors by returning Result<ControllerStatus, ControllerError>. (Breaking Change) (#74)

Changed

  • Overhauled the competition module with more straightforward getters for competition state. (#38) (Breaking Change)
  • LLEMU-related macros have been prefixed with llemu_ (e.g. llemu_println). (Breaking Change) (#30)
  • Added Debug, Copy, and Clone derives for common structs (#37)
  • Renamed InertialSensor::is_calibrating to InertialSensor::calibrating. (Breaking Change) (#65)
  • Battery API functions now return Result<_, BatteryError>. (Breaking Change) (#62)
  • Renamed battery::get_capacity to battery::capacity, battery::get_current -> battery::current, battery::get_temperature -> battery::temperature, battery::get_voltage -> battery::voltage. (Breaking Change) (#62)

Removed

  • Removed several broken bindings in pros_sys relating to competition state. (#38) (Breaking Change)
  • LocalKey no longer implements set for non-Cell/RefCell stored values. (Breaking change) (#42)
  • Removed the now-redundant InertialStatus::error function. (Breaking Change) (#65)

0.6.0 - 2024-01-14

Added

Fixed

  • GPS sensor set_offset function now returns a result. The relevant PROS C bindings have been fixed as well. (Breaking change)
  • FreeRTOS task creation now does not garble data that the provided closure captured.
  • Grammar in the feature request template has been fixed.
  • Wasm build flags have been updated and fixed.

Changed

  • Panicking behavior has been improved so that spawned tasks will not panic the entire program.
  • Panic messages are now improved and printed over the serial connection.
  • AsyncRobot should now be implemented using the newly stabilized async trait syntax instead of the old async_trait attribute macro. (Breaking change)
  • Add contributing information, pull request templates, and changelog. (#34)
  • AdiPort is now structured with ADI expander modules in mind. (Breaking change) (#34)
  • Reorganized ADI, Smart Port, and builtin devices into a common devices module. (Breaking change) (#34)
  • Devices now take SmartPort/AdiPort rather than a raw port index. (Breaking change) (#34)
  • All devices now take &mut self for methods modifying hardware state. (Breaking change) (#34)

Removed

  • Copy/Clone derives for some existing device types. (Breaking change) (#34)
  • A nonexistent runner for armv7a-vexos-eabi target has been removed from the cargo config.

0.5.0 - 2024-01-08

Added

  • Standard library like Instants
  • Optical sensor bindings.
  • IMU sensor bindings.

Fixed

  • The async executor now does not starve the OS of cycles when unnecessary.

Changed

  • Updated readme with fixed grammar.

Removed

0.4.0 - 2024-01-02

Added

  • Add methods to controller for checking individual buttons and axes.

Fixed

Changed

  • Write doc comments for previously undocumented modules and functions.

Removed