From 12c08f9442b74abd74d029555e3bcd3201e31d1d Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Wed, 17 Jan 2024 13:55:13 -0600
Subject: [PATCH 01/96] feat: AdiAddrLed & AdiSolenoid

---
 packages/pros/Cargo.toml                  |   3 +-
 packages/pros/src/devices/adi/addrled.rs  | 129 ++++++++++++++++++++++
 packages/pros/src/devices/adi/mod.rs      |   5 +
 packages/pros/src/devices/adi/solenoid.rs |  61 ++++++++++
 packages/pros/src/lib.rs                  |   2 +
 5 files changed, 199 insertions(+), 1 deletion(-)
 create mode 100644 packages/pros/src/devices/adi/addrled.rs
 create mode 100644 packages/pros/src/devices/adi/solenoid.rs

diff --git a/packages/pros/Cargo.toml b/packages/pros/Cargo.toml
index 8da5e111..261baabb 100644
--- a/packages/pros/Cargo.toml
+++ b/packages/pros/Cargo.toml
@@ -32,6 +32,7 @@ hashbrown = { version = "0.14.1", default-features = true }
 async-task = { version = "4.5.0", default-features = false }
 waker-fn = "1.1.1"
 libc-print = "0.1.22"
+smart-leds-trait = { version = "0.3.0", optional = true }
 
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-dlmalloc = { version = "0.2.4", features = ["global"] }
+dlmalloc = { version = "0.2.4", features = ["global"] }
\ No newline at end of file
diff --git a/packages/pros/src/devices/adi/addrled.rs b/packages/pros/src/devices/adi/addrled.rs
new file mode 100644
index 00000000..a38d63a3
--- /dev/null
+++ b/packages/pros/src/devices/adi/addrled.rs
@@ -0,0 +1,129 @@
+use alloc::vec::Vec;
+
+use pros_sys::{ext_adi_led_t, PROS_ERR};
+
+use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
+use crate::{devices::smart::vision::Rgb, error::bail_on};
+
+#[derive(Debug, Eq, PartialEq)]
+pub struct AdiAddrLed {
+    raw: ext_adi_led_t,
+    buffer: Vec<u32>,
+    port: AdiPort,
+}
+
+impl AdiAddrLed {
+    pub fn new(port: AdiPort, length: usize) -> Result<Self, AdiError> {
+        let raw = bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_led_init(port.internal_expander_index(), port.index())
+        });
+
+        Ok(Self {
+            port,
+            raw,
+            buffer: Vec::with_capacity(length),
+        })
+    }
+
+    pub fn clear_all(&mut self) -> Result<(), AdiError> {
+        bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_led_clear_all(
+                self.raw,
+                self.buffer.as_mut_ptr(),
+                self.buffer.len() as u32,
+            )
+        });
+
+        Ok(())
+    }
+
+    pub fn set_all(&mut self, color: Rgb) -> Result<(), AdiError> {
+        bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_led_set_all(
+                self.raw,
+                self.buffer.as_mut_ptr(),
+                self.buffer.len() as u32,
+                u32::from(color),
+            )
+        });
+
+        Ok(())
+    }
+
+    pub fn set_buffer<T, I>(&mut self, buffer: T) -> Result<(), AdiError>
+    where
+        T: IntoIterator<Item = I>,
+        I: Into<u32>,
+    {
+        self.buffer = buffer.into_iter().map(|i| i.into()).collect::<Vec<_>>();
+
+        bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_led_set(self.raw, self.buffer.as_mut_ptr(), self.buffer.len() as u32)
+        });
+
+        Ok(())
+    }
+
+    pub fn set_pixel(&mut self, index: u32, color: Rgb) -> Result<(), AdiError> {
+        bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_led_set_pixel(
+                self.raw,
+                self.buffer.as_mut_ptr(),
+                self.buffer.len() as u32,
+                u32::from(color),
+                index,
+            )
+        });
+
+        Ok(())
+    }
+
+    pub fn clear_pixel(&mut self, index: u32) -> Result<(), AdiError> {
+        bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_led_clear_pixel(
+                self.raw,
+                self.buffer.as_mut_ptr(),
+                self.buffer.len() as u32,
+                index,
+            )
+        });
+
+        Ok(())
+    }
+}
+
+impl AdiDevice for AdiAddrLed {
+    type PortIndexOutput = u8;
+
+    fn port_index(&self) -> Self::PortIndexOutput {
+        self.port.index()
+    }
+
+    fn expander_port_index(&self) -> Option<u8> {
+        self.port.expander_index()
+    }
+
+    fn device_type(&self) -> AdiDeviceType {
+        AdiDeviceType::LegacyPwm
+    }
+}
+
+#[cfg(feature = "smart-leds-trait")]
+impl smart_leds_trait::SmartLedsWrite for AdiAddrLed {
+    type Error = AdiError;
+    type Color = u32;
+
+    fn write<T, I>(&mut self, iterator: T) -> Result<(), Self::Error>
+    where
+        T: IntoIterator<Item = I>,
+        I: Into<Self::Color>,
+    {
+        self.buffer = iterator.into_iter().map(|i| i.into()).collect::<Vec<_>>();
+
+        bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_led_set(self.raw, self.buffer.as_mut_ptr(), self.buffer.len() as u32)
+        });
+
+        Ok(())
+    }
+}
diff --git a/packages/pros/src/devices/adi/mod.rs b/packages/pros/src/devices/adi/mod.rs
index 22938896..192d527c 100644
--- a/packages/pros/src/devices/adi/mod.rs
+++ b/packages/pros/src/devices/adi/mod.rs
@@ -7,18 +7,23 @@ use crate::error::{bail_on, map_errno, PortError};
 
 pub mod analog;
 pub mod digital;
+
+pub mod addrled;
 pub mod encoder;
 pub mod gyro;
 pub mod motor;
 pub mod potentiometer;
+pub mod solenoid;
 pub mod ultrasonic;
 
+pub use addrled::AdiAddrLed;
 pub use analog::{AdiAnalogIn, AdiAnalogOut};
 pub use digital::{AdiDigitalIn, AdiDigitalOut};
 pub use encoder::AdiEncoder;
 pub use gyro::AdiGyro;
 pub use motor::AdiMotor;
 pub use potentiometer::AdiPotentiometer;
+pub use solenoid::AdiSolenoid;
 pub use ultrasonic::AdiUltrasonic;
 
 /// Represents an ADI (three wire) port on a V5 Brain or V5 Three Wire Expander.
diff --git a/packages/pros/src/devices/adi/solenoid.rs b/packages/pros/src/devices/adi/solenoid.rs
new file mode 100644
index 00000000..c4234fbe
--- /dev/null
+++ b/packages/pros/src/devices/adi/solenoid.rs
@@ -0,0 +1,61 @@
+use pros_sys::PROS_ERR;
+
+use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
+use crate::error::bail_on;
+
+#[derive(Debug, Eq, PartialEq)]
+pub struct AdiSolenoid {
+    port: AdiPort,
+    value: bool,
+}
+
+impl AdiSolenoid {
+    /// Create an AdiSolenoid.
+    pub fn new(port: AdiPort) -> Self {
+        Self { port, value: false }
+    }
+
+    pub fn set_value(&mut self, value: bool) -> Result<i32, AdiError> {
+        self.value = true;
+
+        Ok(bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_digital_write(
+                self.port.internal_expander_index(),
+                self.port.index(),
+                value,
+            )
+        }))
+    }
+
+    pub fn value(&self) -> bool {
+        self.value
+    }
+
+    pub fn open(&mut self) -> Result<i32, AdiError> {
+        self.set_value(true)
+    }
+
+    pub fn close(&mut self) -> Result<i32, AdiError> {
+        self.set_value(false)
+    }
+
+    pub fn toggle(&mut self) -> Result<i32, AdiError> {
+        self.set_value(!self.value)
+    }
+}
+
+impl AdiDevice for AdiSolenoid {
+    type PortIndexOutput = u8;
+
+    fn port_index(&self) -> Self::PortIndexOutput {
+        self.port.index()
+    }
+
+    fn expander_port_index(&self) -> Option<u8> {
+        self.port.expander_index()
+    }
+
+    fn device_type(&self) -> AdiDeviceType {
+        AdiDeviceType::DigitalOut
+    }
+}
diff --git a/packages/pros/src/lib.rs b/packages/pros/src/lib.rs
index a6ca81df..93382097 100644
--- a/packages/pros/src/lib.rs
+++ b/packages/pros/src/lib.rs
@@ -376,12 +376,14 @@ pub mod prelude {
         async_runtime::*,
         devices::{
             adi::{
+                addrled::AdiAddrLed,
                 analog::{AdiAnalogIn, AdiAnalogOut},
                 digital::{AdiDigitalIn, AdiDigitalOut},
                 encoder::AdiEncoder,
                 gyro::AdiGyro,
                 motor::AdiMotor,
                 potentiometer::{AdiPotentiometer, AdiPotentiometerType},
+                solenoid::AdiSolenoid,
                 ultrasonic::AdiUltrasonic,
                 AdiDevice, AdiPort,
             },

From c86379e9a0b5cee6583d9ac00b7cac4c3ffe4bef Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Wed, 17 Jan 2024 23:06:38 -0600
Subject: [PATCH 02/96] feat: ADI Expander

---
 packages/pros/src/devices/smart/expander.rs | 44 +++++++++++++++++++++
 packages/pros/src/devices/smart/mod.rs      |  2 +
 packages/pros/src/lib.rs                    |  1 +
 3 files changed, 47 insertions(+)
 create mode 100644 packages/pros/src/devices/smart/expander.rs

diff --git a/packages/pros/src/devices/smart/expander.rs b/packages/pros/src/devices/smart/expander.rs
new file mode 100644
index 00000000..5f1ff36c
--- /dev/null
+++ b/packages/pros/src/devices/smart/expander.rs
@@ -0,0 +1,44 @@
+use super::{SmartDevice, SmartDeviceType, SmartPort};
+use crate::devices::adi::AdiPort;
+
+#[derive(Debug, Eq, PartialEq)]
+pub struct AdiExpander {
+    pub port_a: AdiPort,
+    pub port_b: AdiPort,
+    pub port_c: AdiPort,
+    pub port_d: AdiPort,
+    pub port_e: AdiPort,
+    pub port_f: AdiPort,
+    pub port_g: AdiPort,
+    pub port_h: AdiPort,
+    port: SmartPort,
+}
+
+impl AdiExpander {
+    /// Create a new expander from a smart port index.
+    pub fn new(port: SmartPort) -> Self {
+        unsafe {
+            Self {
+                port_a: AdiPort::new(1, Some(port.index())),
+                port_b: AdiPort::new(2, Some(port.index())),
+                port_c: AdiPort::new(3, Some(port.index())),
+                port_d: AdiPort::new(4, Some(port.index())),
+                port_e: AdiPort::new(5, Some(port.index())),
+                port_f: AdiPort::new(6, Some(port.index())),
+                port_g: AdiPort::new(7, Some(port.index())),
+                port_h: AdiPort::new(8, Some(port.index())),
+                port,
+            }
+        }
+    }
+}
+
+impl SmartDevice for AdiExpander {
+    fn port_index(&self) -> u8 {
+        self.port.index()
+    }
+
+    fn device_type(&self) -> SmartDeviceType {
+        SmartDeviceType::Adi
+    }
+}
diff --git a/packages/pros/src/devices/smart/mod.rs b/packages/pros/src/devices/smart/mod.rs
index 61b00cca..f24d827c 100644
--- a/packages/pros/src/devices/smart/mod.rs
+++ b/packages/pros/src/devices/smart/mod.rs
@@ -15,6 +15,7 @@
 //! More specific info for each device is availible in their respective modules.
 
 pub mod distance;
+pub mod expander;
 pub mod gps;
 pub mod imu;
 pub mod link;
@@ -24,6 +25,7 @@ pub mod rotation;
 pub mod vision;
 
 pub use distance::DistanceSensor;
+pub use expander::AdiExpander;
 pub use gps::GpsSensor;
 pub use imu::InertialSensor;
 pub use link::{Link, RxLink, TxLink};
diff --git a/packages/pros/src/lib.rs b/packages/pros/src/lib.rs
index a6ca81df..5351b107 100644
--- a/packages/pros/src/lib.rs
+++ b/packages/pros/src/lib.rs
@@ -388,6 +388,7 @@ pub mod prelude {
             position::Position,
             smart::{
                 distance::DistanceSensor,
+                expander::AdiExpander,
                 gps::GpsSensor,
                 imu::InertialSensor,
                 link::{Link, RxLink, TxLink},

From 27ebaa711f4d650debef36b02535e65eb47ce212 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Wed, 17 Jan 2024 23:13:51 -0600
Subject: [PATCH 03/96] refactor: prefix adi ports with `adi_`

---
 packages/pros/src/devices/smart/expander.rs | 32 ++++++++++-----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/packages/pros/src/devices/smart/expander.rs b/packages/pros/src/devices/smart/expander.rs
index 5f1ff36c..1bd5ab11 100644
--- a/packages/pros/src/devices/smart/expander.rs
+++ b/packages/pros/src/devices/smart/expander.rs
@@ -3,14 +3,14 @@ use crate::devices::adi::AdiPort;
 
 #[derive(Debug, Eq, PartialEq)]
 pub struct AdiExpander {
-    pub port_a: AdiPort,
-    pub port_b: AdiPort,
-    pub port_c: AdiPort,
-    pub port_d: AdiPort,
-    pub port_e: AdiPort,
-    pub port_f: AdiPort,
-    pub port_g: AdiPort,
-    pub port_h: AdiPort,
+    pub adi_port_a: AdiPort,
+    pub adi_port_b: AdiPort,
+    pub adi_port_c: AdiPort,
+    pub adi_port_d: AdiPort,
+    pub adi_port_e: AdiPort,
+    pub adi_port_f: AdiPort,
+    pub adi_port_g: AdiPort,
+    pub adi_port_h: AdiPort,
     port: SmartPort,
 }
 
@@ -19,14 +19,14 @@ impl AdiExpander {
     pub fn new(port: SmartPort) -> Self {
         unsafe {
             Self {
-                port_a: AdiPort::new(1, Some(port.index())),
-                port_b: AdiPort::new(2, Some(port.index())),
-                port_c: AdiPort::new(3, Some(port.index())),
-                port_d: AdiPort::new(4, Some(port.index())),
-                port_e: AdiPort::new(5, Some(port.index())),
-                port_f: AdiPort::new(6, Some(port.index())),
-                port_g: AdiPort::new(7, Some(port.index())),
-                port_h: AdiPort::new(8, Some(port.index())),
+                adi_port_a: AdiPort::new(1, Some(port.index())),
+                adi_port_b: AdiPort::new(2, Some(port.index())),
+                adi_port_c: AdiPort::new(3, Some(port.index())),
+                adi_port_d: AdiPort::new(4, Some(port.index())),
+                adi_port_e: AdiPort::new(5, Some(port.index())),
+                adi_port_f: AdiPort::new(6, Some(port.index())),
+                adi_port_g: AdiPort::new(7, Some(port.index())),
+                adi_port_h: AdiPort::new(8, Some(port.index())),
                 port,
             }
         }

From e1606f73eceb945023e7240d805021f156a619a8 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Thu, 18 Jan 2024 17:59:09 -0600
Subject: [PATCH 04/96] refactor: match port naming with peripherals

---
 packages/pros/src/devices/smart/expander.rs | 32 ++++++++++-----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/packages/pros/src/devices/smart/expander.rs b/packages/pros/src/devices/smart/expander.rs
index 1bd5ab11..1ca0dd86 100644
--- a/packages/pros/src/devices/smart/expander.rs
+++ b/packages/pros/src/devices/smart/expander.rs
@@ -3,14 +3,14 @@ use crate::devices::adi::AdiPort;
 
 #[derive(Debug, Eq, PartialEq)]
 pub struct AdiExpander {
-    pub adi_port_a: AdiPort,
-    pub adi_port_b: AdiPort,
-    pub adi_port_c: AdiPort,
-    pub adi_port_d: AdiPort,
-    pub adi_port_e: AdiPort,
-    pub adi_port_f: AdiPort,
-    pub adi_port_g: AdiPort,
-    pub adi_port_h: AdiPort,
+    pub adi_1: AdiPort,
+    pub adi_2: AdiPort,
+    pub adi_3: AdiPort,
+    pub adi_4: AdiPort,
+    pub adi_5: AdiPort,
+    pub adi_6: AdiPort,
+    pub adi_7: AdiPort,
+    pub adi_8: AdiPort,
     port: SmartPort,
 }
 
@@ -19,14 +19,14 @@ impl AdiExpander {
     pub fn new(port: SmartPort) -> Self {
         unsafe {
             Self {
-                adi_port_a: AdiPort::new(1, Some(port.index())),
-                adi_port_b: AdiPort::new(2, Some(port.index())),
-                adi_port_c: AdiPort::new(3, Some(port.index())),
-                adi_port_d: AdiPort::new(4, Some(port.index())),
-                adi_port_e: AdiPort::new(5, Some(port.index())),
-                adi_port_f: AdiPort::new(6, Some(port.index())),
-                adi_port_g: AdiPort::new(7, Some(port.index())),
-                adi_port_h: AdiPort::new(8, Some(port.index())),
+                adi_1: AdiPort::new(1, Some(port.index())),
+                adi_2: AdiPort::new(2, Some(port.index())),
+                adi_3: AdiPort::new(3, Some(port.index())),
+                adi_4: AdiPort::new(4, Some(port.index())),
+                adi_5: AdiPort::new(5, Some(port.index())),
+                adi_6: AdiPort::new(6, Some(port.index())),
+                adi_7: AdiPort::new(7, Some(port.index())),
+                adi_8: AdiPort::new(8, Some(port.index())),
                 port,
             }
         }

From 1d9de96c109395fcdecdf072c12e225190394aa7 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Thu, 18 Jan 2024 18:02:11 -0600
Subject: [PATCH 05/96] docs: update changelog, document struct

---
 CHANGELOG.md                                | 1 +
 packages/pros/src/devices/smart/expander.rs | 7 +++++++
 2 files changed, 8 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index f263e691..42fb3479 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -35,6 +35,7 @@ Before releasing:
 - 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)
+- Support for ADI Expander modules with `AdiExpander`. (#63)
 
 ### Fixed
 
diff --git a/packages/pros/src/devices/smart/expander.rs b/packages/pros/src/devices/smart/expander.rs
index 1ca0dd86..ed4064f5 100644
--- a/packages/pros/src/devices/smart/expander.rs
+++ b/packages/pros/src/devices/smart/expander.rs
@@ -1,6 +1,13 @@
 use super::{SmartDevice, SmartDeviceType, SmartPort};
 use crate::devices::adi::AdiPort;
 
+/// Represents an ADI expander module plugged into a smart port.
+///
+/// ADI Expanders allow a smart port to be used as an "adapter" for eight additional ADI slots
+/// if all onboard [`AdiPorts`] are used.
+///
+/// This struct gives access to [`AdiPort`]s similarly to how [`Peripherals`] works. Ports may
+/// be partially moved out of this struct to create devices.
 #[derive(Debug, Eq, PartialEq)]
 pub struct AdiExpander {
     pub adi_1: AdiPort,

From bd3e964d6d2fe973d9b35d1f510610e5187c9dcc Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Thu, 18 Jan 2024 18:03:30 -0600
Subject: [PATCH 06/96] refactor: use letters rather than numbers to
 distinguish adi ports

---
 packages/pros/src/devices/smart/expander.rs | 32 ++++++++++-----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/packages/pros/src/devices/smart/expander.rs b/packages/pros/src/devices/smart/expander.rs
index ed4064f5..087b1d93 100644
--- a/packages/pros/src/devices/smart/expander.rs
+++ b/packages/pros/src/devices/smart/expander.rs
@@ -10,14 +10,14 @@ use crate::devices::adi::AdiPort;
 /// be partially moved out of this struct to create devices.
 #[derive(Debug, Eq, PartialEq)]
 pub struct AdiExpander {
-    pub adi_1: AdiPort,
-    pub adi_2: AdiPort,
-    pub adi_3: AdiPort,
-    pub adi_4: AdiPort,
-    pub adi_5: AdiPort,
-    pub adi_6: AdiPort,
-    pub adi_7: AdiPort,
-    pub adi_8: AdiPort,
+    pub adi_a: AdiPort,
+    pub adi_b: AdiPort,
+    pub adi_c: AdiPort,
+    pub adi_d: AdiPort,
+    pub adi_e: AdiPort,
+    pub adi_f: AdiPort,
+    pub adi_g: AdiPort,
+    pub adi_h: AdiPort,
     port: SmartPort,
 }
 
@@ -26,14 +26,14 @@ impl AdiExpander {
     pub fn new(port: SmartPort) -> Self {
         unsafe {
             Self {
-                adi_1: AdiPort::new(1, Some(port.index())),
-                adi_2: AdiPort::new(2, Some(port.index())),
-                adi_3: AdiPort::new(3, Some(port.index())),
-                adi_4: AdiPort::new(4, Some(port.index())),
-                adi_5: AdiPort::new(5, Some(port.index())),
-                adi_6: AdiPort::new(6, Some(port.index())),
-                adi_7: AdiPort::new(7, Some(port.index())),
-                adi_8: AdiPort::new(8, Some(port.index())),
+                adi_a: AdiPort::new(1, Some(port.index())),
+                adi_b: AdiPort::new(2, Some(port.index())),
+                adi_c: AdiPort::new(3, Some(port.index())),
+                adi_d: AdiPort::new(4, Some(port.index())),
+                adi_e: AdiPort::new(5, Some(port.index())),
+                adi_f: AdiPort::new(6, Some(port.index())),
+                adi_g: AdiPort::new(7, Some(port.index())),
+                adi_h: AdiPort::new(8, Some(port.index())),
                 port,
             }
         }

From b04b8d84d926c7384267dbeb1005ab46dfe4396e Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Thu, 18 Jan 2024 18:04:07 -0600
Subject: [PATCH 07/96] docs: fix link to `AdiPort`

---
 packages/pros/src/devices/smart/expander.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/packages/pros/src/devices/smart/expander.rs b/packages/pros/src/devices/smart/expander.rs
index 087b1d93..105e16d1 100644
--- a/packages/pros/src/devices/smart/expander.rs
+++ b/packages/pros/src/devices/smart/expander.rs
@@ -4,7 +4,7 @@ use crate::devices::adi::AdiPort;
 /// Represents an ADI expander module plugged into a smart port.
 ///
 /// ADI Expanders allow a smart port to be used as an "adapter" for eight additional ADI slots
-/// if all onboard [`AdiPorts`] are used.
+/// if all onboard [`AdiPort`]s are used.
 ///
 /// This struct gives access to [`AdiPort`]s similarly to how [`Peripherals`] works. Ports may
 /// be partially moved out of this struct to create devices.

From 75a861142ce359b666fe682ec46586be9c1ac91c Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Thu, 18 Jan 2024 21:16:14 -0600
Subject: [PATCH 08/96] docs: add example for battery API

---
 packages/pros/examples/battery.rs | 22 ++++++++++++++++++++++
 1 file changed, 22 insertions(+)
 create mode 100644 packages/pros/examples/battery.rs

diff --git a/packages/pros/examples/battery.rs b/packages/pros/examples/battery.rs
new file mode 100644
index 00000000..a8ab4bda
--- /dev/null
+++ b/packages/pros/examples/battery.rs
@@ -0,0 +1,22 @@
+#![no_std]
+#![no_main]
+
+use pros::prelude::*;
+
+#[derive(Default)]
+pub struct Robot;
+
+impl AsyncRobot for Robot {
+    async fn opcontrol(&mut self) -> pros::Result {
+        if pros::battery::capacity()? < 20.0 {
+            println!("WARNING: Battery Low!");
+        }
+
+        if pros::battery::temperature()? > 999.0 {
+            println!("WARNING: Battery is on fire!");
+        }
+
+        Ok(())
+    }
+}
+async_robot!(Robot);

From f1f67b2e70da195d6192eb2426592f26cd5df91a Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Thu, 18 Jan 2024 21:16:39 -0600
Subject: [PATCH 09/96] Revert "docs: add example for battery API"

This reverts commit 75a861142ce359b666fe682ec46586be9c1ac91c.
---
 packages/pros/examples/battery.rs | 22 ----------------------
 1 file changed, 22 deletions(-)
 delete mode 100644 packages/pros/examples/battery.rs

diff --git a/packages/pros/examples/battery.rs b/packages/pros/examples/battery.rs
deleted file mode 100644
index a8ab4bda..00000000
--- a/packages/pros/examples/battery.rs
+++ /dev/null
@@ -1,22 +0,0 @@
-#![no_std]
-#![no_main]
-
-use pros::prelude::*;
-
-#[derive(Default)]
-pub struct Robot;
-
-impl AsyncRobot for Robot {
-    async fn opcontrol(&mut self) -> pros::Result {
-        if pros::battery::capacity()? < 20.0 {
-            println!("WARNING: Battery Low!");
-        }
-
-        if pros::battery::temperature()? > 999.0 {
-            println!("WARNING: Battery is on fire!");
-        }
-
-        Ok(())
-    }
-}
-async_robot!(Robot);

From 954262b0b8ce71b655cafa8da2f83bcb12750cac Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Thu, 18 Jan 2024 21:21:18 -0600
Subject: [PATCH 10/96] docs: add example for `AdiExpander`

---
 packages/pros/examples/adi_expander.rs | 33 ++++++++++++++++++++++++++
 1 file changed, 33 insertions(+)
 create mode 100644 packages/pros/examples/adi_expander.rs

diff --git a/packages/pros/examples/adi_expander.rs b/packages/pros/examples/adi_expander.rs
new file mode 100644
index 00000000..2672451b
--- /dev/null
+++ b/packages/pros/examples/adi_expander.rs
@@ -0,0 +1,33 @@
+#![no_std]
+#![no_main]
+
+use core::time::Duration;
+
+use pros::prelude::*;
+
+pub struct Robot {
+    encoder: AdiEncoder,
+}
+impl Robot {
+    fn new(peripherals: Peripherals) -> Self {
+        // Create an expander on smart port 1
+        let expander = AdiExpander::new(peripherals.port_1);
+
+        Self {
+            // Create an encoder on the expander's A and B ports.
+            encoder: AdiEncoder::new((expander.adi_a, expander.adi_b), false),
+        }
+    }
+}
+
+impl AsyncRobot for Robot {
+    async fn opcontrol(&mut self) -> pros::Result {
+        // Read from the encoder every second.
+        loop {
+            println!("Encoder value: {}", self.encoder.value()?);
+
+            pros::task::delay(Duration::from_secs(1));
+        }
+    }
+}
+async_robot!(Robot, Robot::new(Peripherals::take().unwrap()));

From ae58b7ba0f8a041b3b11c944250e18b5ad1180f8 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Mon, 22 Jan 2024 15:10:09 -0600
Subject: [PATCH 11/96] refactor: don't require buffer length in leds

---
 packages/pros/src/devices/adi/addrled.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/packages/pros/src/devices/adi/addrled.rs b/packages/pros/src/devices/adi/addrled.rs
index a38d63a3..20f52ee5 100644
--- a/packages/pros/src/devices/adi/addrled.rs
+++ b/packages/pros/src/devices/adi/addrled.rs
@@ -13,7 +13,7 @@ pub struct AdiAddrLed {
 }
 
 impl AdiAddrLed {
-    pub fn new(port: AdiPort, length: usize) -> Result<Self, AdiError> {
+    pub fn new(port: AdiPort) -> Result<Self, AdiError> {
         let raw = bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_led_init(port.internal_expander_index(), port.index())
         });
@@ -21,7 +21,7 @@ impl AdiAddrLed {
         Ok(Self {
             port,
             raw,
-            buffer: Vec::with_capacity(length),
+            buffer: Vec::new(),
         })
     }
 

From 305ee37371902543a6c3c3d775408203d4daecb7 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Mon, 22 Jan 2024 19:52:46 -0600
Subject: [PATCH 12/96] refactor: addrled api

---
 packages/pros/src/devices/adi/addrled.rs | 64 ++++++++++++++++++++----
 1 file changed, 53 insertions(+), 11 deletions(-)

diff --git a/packages/pros/src/devices/adi/addrled.rs b/packages/pros/src/devices/adi/addrled.rs
index 20f52ee5..73a5c889 100644
--- a/packages/pros/src/devices/adi/addrled.rs
+++ b/packages/pros/src/devices/adi/addrled.rs
@@ -1,9 +1,13 @@
 use alloc::vec::Vec;
 
 use pros_sys::{ext_adi_led_t, PROS_ERR};
+use snafu::Snafu;
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use crate::{devices::smart::vision::Rgb, error::bail_on};
+use crate::{
+    devices::smart::vision::Rgb,
+    error::{bail_on, map_errno},
+};
 
 #[derive(Debug, Eq, PartialEq)]
 pub struct AdiAddrLed {
@@ -13,19 +17,35 @@ pub struct AdiAddrLed {
 }
 
 impl AdiAddrLed {
-    pub fn new(port: AdiPort) -> Result<Self, AdiError> {
+    /// Initialize an LED strip on an ADI port from a buffer of light colors.
+    pub fn new<T, I>(port: AdiPort, buf: T) -> Result<Self, AddrLedError>
+    where
+        T: IntoIterator<Item = I>,
+        I: Into<u32>,
+    {
         let raw = bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_led_init(port.internal_expander_index(), port.index())
         });
 
-        Ok(Self {
+        let mut device = Self {
             port,
             raw,
-            buffer: Vec::new(),
-        })
+            buffer: buf.into_iter().map(|i| i.into()).collect::<Vec<_>>(),
+        };
+
+        bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_led_set(
+                device.raw,
+                device.buffer.as_mut_ptr(),
+                device.buffer.len() as u32,
+            )
+        });
+
+        Ok(device)
     }
 
-    pub fn clear_all(&mut self) -> Result<(), AdiError> {
+    /// Clear the entire led strip of color.
+    pub fn clear_all(&mut self) -> Result<(), AddrLedError> {
         bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_led_clear_all(
                 self.raw,
@@ -37,7 +57,8 @@ impl AdiAddrLed {
         Ok(())
     }
 
-    pub fn set_all(&mut self, color: Rgb) -> Result<(), AdiError> {
+    /// Set the entire led strip to one color
+    pub fn set_all(&mut self, color: Rgb) -> Result<(), AddrLedError> {
         bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_led_set_all(
                 self.raw,
@@ -50,7 +71,8 @@ impl AdiAddrLed {
         Ok(())
     }
 
-    pub fn set_buffer<T, I>(&mut self, buffer: T) -> Result<(), AdiError>
+    /// Set the entire led strip using the colors contained in a new buffer.
+    pub fn set_buffer<T, I>(&mut self, buffer: T) -> Result<(), AddrLedError>
     where
         T: IntoIterator<Item = I>,
         I: Into<u32>,
@@ -64,7 +86,8 @@ impl AdiAddrLed {
         Ok(())
     }
 
-    pub fn set_pixel(&mut self, index: u32, color: Rgb) -> Result<(), AdiError> {
+    /// Set one pixel on the led strip.
+    pub fn set_pixel(&mut self, index: u32, color: Rgb) -> Result<(), AddrLedError> {
         bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_led_set_pixel(
                 self.raw,
@@ -78,7 +101,8 @@ impl AdiAddrLed {
         Ok(())
     }
 
-    pub fn clear_pixel(&mut self, index: u32) -> Result<(), AdiError> {
+    /// Clear one pixel on the LED strip.
+    pub fn clear_pixel(&mut self, index: u32) -> Result<(), AddrLedError> {
         bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_led_clear_pixel(
                 self.raw,
@@ -110,7 +134,7 @@ impl AdiDevice for AdiAddrLed {
 
 #[cfg(feature = "smart-leds-trait")]
 impl smart_leds_trait::SmartLedsWrite for AdiAddrLed {
-    type Error = AdiError;
+    type Error = AddrLedError;
     type Color = u32;
 
     fn write<T, I>(&mut self, iterator: T) -> Result<(), Self::Error>
@@ -127,3 +151,21 @@ impl smart_leds_trait::SmartLedsWrite for AdiAddrLed {
         Ok(())
     }
 }
+
+#[derive(Debug, Snafu)]
+pub enum AddrLedError {
+    #[snafu(display(
+        "Failed to access LED buffer. A given value is not correct, or the buffer is null."
+    ))]
+    InvalidBufferAccess,
+
+    #[snafu(display("{source}"), context(false))]
+    Adi { source: AdiError },
+}
+
+map_errno! {
+    AddrLedError {
+        EINVAL => Self::InvalidBufferAccess,
+    }
+    inherit AdiError;
+}

From ea9e9395c165b68890e6ba2d9dbc26b38a19ff21 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Mon, 22 Jan 2024 20:29:22 -0600
Subject: [PATCH 13/96] refactor: various conversion consistencies

---
 packages/pros/src/devices/adi/addrled.rs | 19 +++++++++----------
 1 file changed, 9 insertions(+), 10 deletions(-)

diff --git a/packages/pros/src/devices/adi/addrled.rs b/packages/pros/src/devices/adi/addrled.rs
index 73a5c889..4e532e07 100644
--- a/packages/pros/src/devices/adi/addrled.rs
+++ b/packages/pros/src/devices/adi/addrled.rs
@@ -4,10 +4,7 @@ use pros_sys::{ext_adi_led_t, PROS_ERR};
 use snafu::Snafu;
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use crate::{
-    devices::smart::vision::Rgb,
-    error::{bail_on, map_errno},
-};
+use crate::error::{bail_on, map_errno};
 
 #[derive(Debug, Eq, PartialEq)]
 pub struct AdiAddrLed {
@@ -16,6 +13,8 @@ pub struct AdiAddrLed {
     port: AdiPort,
 }
 
+pub const MAX_LED_LENGTH: usize = 64;
+
 impl AdiAddrLed {
     /// Initialize an LED strip on an ADI port from a buffer of light colors.
     pub fn new<T, I>(port: AdiPort, buf: T) -> Result<Self, AddrLedError>
@@ -58,13 +57,13 @@ impl AdiAddrLed {
     }
 
     /// Set the entire led strip to one color
-    pub fn set_all(&mut self, color: Rgb) -> Result<(), AddrLedError> {
+    pub fn set_all(&mut self, color: impl Into<u32>) -> Result<(), AddrLedError> {
         bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_led_set_all(
                 self.raw,
                 self.buffer.as_mut_ptr(),
                 self.buffer.len() as u32,
-                u32::from(color),
+                color.into(),
             )
         });
 
@@ -72,12 +71,12 @@ impl AdiAddrLed {
     }
 
     /// Set the entire led strip using the colors contained in a new buffer.
-    pub fn set_buffer<T, I>(&mut self, buffer: T) -> Result<(), AddrLedError>
+    pub fn set_buffer<T, I>(&mut self, buf: T) -> Result<(), AddrLedError>
     where
         T: IntoIterator<Item = I>,
         I: Into<u32>,
     {
-        self.buffer = buffer.into_iter().map(|i| i.into()).collect::<Vec<_>>();
+        self.buffer = buf.into_iter().map(|i| i.into()).collect::<Vec<_>>();
 
         bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_led_set(self.raw, self.buffer.as_mut_ptr(), self.buffer.len() as u32)
@@ -87,13 +86,13 @@ impl AdiAddrLed {
     }
 
     /// Set one pixel on the led strip.
-    pub fn set_pixel(&mut self, index: u32, color: Rgb) -> Result<(), AddrLedError> {
+    pub fn set_pixel(&mut self, index: u32, color: impl Into<u32>) -> Result<(), AddrLedError> {
         bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_led_set_pixel(
                 self.raw,
                 self.buffer.as_mut_ptr(),
                 self.buffer.len() as u32,
-                u32::from(color),
+                color.into(),
                 index,
             )
         });

From 6795c4383e93d67aa0607970b6c04202cc6a3571 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Tue, 23 Jan 2024 18:58:20 -0600
Subject: [PATCH 14/96] fix: `set_pixel`

---
 packages/pros/examples/addrled.rs        | 79 ++++++++++++++++++++++++
 packages/pros/src/devices/adi/addrled.rs | 41 +++++-------
 2 files changed, 96 insertions(+), 24 deletions(-)
 create mode 100644 packages/pros/examples/addrled.rs

diff --git a/packages/pros/examples/addrled.rs b/packages/pros/examples/addrled.rs
new file mode 100644
index 00000000..c64e09dd
--- /dev/null
+++ b/packages/pros/examples/addrled.rs
@@ -0,0 +1,79 @@
+#![no_std]
+#![no_main]
+
+extern crate alloc;
+
+use core::time::Duration;
+
+use alloc::vec;
+
+use pros::{devices::smart::vision::Rgb, prelude::*};
+
+pub struct Robot {
+    led_strip: AdiAddrLed,
+}
+
+fn wheel(mut wheel_pos: u8) -> Rgb {
+    wheel_pos = 255 - wheel_pos;
+    if wheel_pos < 85 {
+        return Rgb::new(255 - wheel_pos * 3, 0, wheel_pos * 3);
+    }
+    if wheel_pos < 170 {
+        wheel_pos -= 85;
+        return Rgb::new(0, wheel_pos * 3, 255 - wheel_pos * 3);
+    }
+    wheel_pos -= 170;
+
+    Rgb::new(wheel_pos * 3, 255 - wheel_pos * 3, 0)
+}
+
+
+impl Robot {
+    pub fn new(peripherals: Peripherals) -> Self {
+        Self {
+            led_strip: AdiAddrLed::new(peripherals.adi_d, vec![Rgb::new(0, 0, 0); 10])
+                .unwrap_or_else(|err| {
+                    panic!("Failed to construct LED strip! Error: {err:?}");
+                }),
+        }
+    }
+}
+
+impl SyncRobot for Robot {
+    fn opcontrol(&mut self) -> pros::Result {
+        println!("==== ADDRLED TEST ====");
+        println!("This will run a few basic test procedures on an AddrLed strip.");
+        println!("There will be a two second sleep between each procedure.\n");
+
+        println!("Test 1: Setting all LEDs to rgb(255, 0, 0).");
+        self.led_strip.set_all(Rgb::new(255, 0, 0)).unwrap();
+
+        println!("Test 2: Clearing all LEDs");
+        self.led_strip.clear_all().unwrap();
+
+        println!("Test 3: Setting first LED to rgb(255, 0, 0).");
+        self.led_strip.set_pixel(0, Rgb::new(255, 0, 0)).unwrap();
+
+        println!("Test 4: Clearing first pixel");
+        self.led_strip.clear_pixel(0).unwrap();
+
+        println!("Test 5: Rainbow Buffer");
+        let mut data = [0u32; 10];
+
+        loop {
+            for j in 0..(256 * 5) {
+                for i in 0..10 {
+                    data[i] = wheel((((i * 256) as u16 / 10 as u16 + j as u16) & 255) as u8).into();
+                }
+
+				self.led_strip.set_buffer(data.iter().cloned()).unwrap();
+
+                pros::task::delay(Duration::from_millis(10));
+            }
+        }
+
+        Ok(())
+    }
+}
+
+sync_robot!(Robot, Robot::new(Peripherals::take().unwrap()));
diff --git a/packages/pros/src/devices/adi/addrled.rs b/packages/pros/src/devices/adi/addrled.rs
index 4e532e07..a59a6df6 100644
--- a/packages/pros/src/devices/adi/addrled.rs
+++ b/packages/pros/src/devices/adi/addrled.rs
@@ -85,31 +85,24 @@ impl AdiAddrLed {
         Ok(())
     }
 
-    /// Set one pixel on the led strip.
-    pub fn set_pixel(&mut self, index: u32, color: impl Into<u32>) -> Result<(), AddrLedError> {
-        bail_on!(PROS_ERR, unsafe {
-            pros_sys::ext_adi_led_set_pixel(
-                self.raw,
-                self.buffer.as_mut_ptr(),
-                self.buffer.len() as u32,
-                color.into(),
-                index,
-            )
-        });
-
-        Ok(())
+    /// Set the color of a single LED on the strip.
+    pub fn set_pixel(&mut self, index: usize, color: impl Into<u32>) -> Result<(), AddrLedError> {
+        if self.buffer.get(index).is_some() {
+            self.buffer[index] = color.into();
+
+            bail_on!(PROS_ERR, unsafe {
+                pros_sys::ext_adi_led_set(self.raw, self.buffer.as_mut_ptr(), self.buffer.len() as u32)
+            });
+
+            Ok(())
+        } else {
+            Err(AddrLedError::InvalidBufferAccess)
+        }
     }
 
-    /// Clear one pixel on the LED strip.
-    pub fn clear_pixel(&mut self, index: u32) -> Result<(), AddrLedError> {
-        bail_on!(PROS_ERR, unsafe {
-            pros_sys::ext_adi_led_clear_pixel(
-                self.raw,
-                self.buffer.as_mut_ptr(),
-                self.buffer.len() as u32,
-                index,
-            )
-        });
+    /// Clear one LED on the strip.
+    pub fn clear_pixel(&mut self, index: usize) -> Result<(), AddrLedError> {
+        self.set_pixel(index, 0u32)?;
 
         Ok(())
     }
@@ -127,7 +120,7 @@ impl AdiDevice for AdiAddrLed {
     }
 
     fn device_type(&self) -> AdiDeviceType {
-        AdiDeviceType::LegacyPwm
+        AdiDeviceType::DigitalOut
     }
 }
 

From e5416e7ec498e8770833742c874ea4930d2912f2 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Tue, 23 Jan 2024 18:59:37 -0600
Subject: [PATCH 15/96] chore: remove test code

---
 packages/pros/examples/addrled.rs        | 79 ------------------------
 packages/pros/src/devices/adi/addrled.rs |  6 +-
 2 files changed, 5 insertions(+), 80 deletions(-)
 delete mode 100644 packages/pros/examples/addrled.rs

diff --git a/packages/pros/examples/addrled.rs b/packages/pros/examples/addrled.rs
deleted file mode 100644
index c64e09dd..00000000
--- a/packages/pros/examples/addrled.rs
+++ /dev/null
@@ -1,79 +0,0 @@
-#![no_std]
-#![no_main]
-
-extern crate alloc;
-
-use core::time::Duration;
-
-use alloc::vec;
-
-use pros::{devices::smart::vision::Rgb, prelude::*};
-
-pub struct Robot {
-    led_strip: AdiAddrLed,
-}
-
-fn wheel(mut wheel_pos: u8) -> Rgb {
-    wheel_pos = 255 - wheel_pos;
-    if wheel_pos < 85 {
-        return Rgb::new(255 - wheel_pos * 3, 0, wheel_pos * 3);
-    }
-    if wheel_pos < 170 {
-        wheel_pos -= 85;
-        return Rgb::new(0, wheel_pos * 3, 255 - wheel_pos * 3);
-    }
-    wheel_pos -= 170;
-
-    Rgb::new(wheel_pos * 3, 255 - wheel_pos * 3, 0)
-}
-
-
-impl Robot {
-    pub fn new(peripherals: Peripherals) -> Self {
-        Self {
-            led_strip: AdiAddrLed::new(peripherals.adi_d, vec![Rgb::new(0, 0, 0); 10])
-                .unwrap_or_else(|err| {
-                    panic!("Failed to construct LED strip! Error: {err:?}");
-                }),
-        }
-    }
-}
-
-impl SyncRobot for Robot {
-    fn opcontrol(&mut self) -> pros::Result {
-        println!("==== ADDRLED TEST ====");
-        println!("This will run a few basic test procedures on an AddrLed strip.");
-        println!("There will be a two second sleep between each procedure.\n");
-
-        println!("Test 1: Setting all LEDs to rgb(255, 0, 0).");
-        self.led_strip.set_all(Rgb::new(255, 0, 0)).unwrap();
-
-        println!("Test 2: Clearing all LEDs");
-        self.led_strip.clear_all().unwrap();
-
-        println!("Test 3: Setting first LED to rgb(255, 0, 0).");
-        self.led_strip.set_pixel(0, Rgb::new(255, 0, 0)).unwrap();
-
-        println!("Test 4: Clearing first pixel");
-        self.led_strip.clear_pixel(0).unwrap();
-
-        println!("Test 5: Rainbow Buffer");
-        let mut data = [0u32; 10];
-
-        loop {
-            for j in 0..(256 * 5) {
-                for i in 0..10 {
-                    data[i] = wheel((((i * 256) as u16 / 10 as u16 + j as u16) & 255) as u8).into();
-                }
-
-				self.led_strip.set_buffer(data.iter().cloned()).unwrap();
-
-                pros::task::delay(Duration::from_millis(10));
-            }
-        }
-
-        Ok(())
-    }
-}
-
-sync_robot!(Robot, Robot::new(Peripherals::take().unwrap()));
diff --git a/packages/pros/src/devices/adi/addrled.rs b/packages/pros/src/devices/adi/addrled.rs
index a59a6df6..793fe916 100644
--- a/packages/pros/src/devices/adi/addrled.rs
+++ b/packages/pros/src/devices/adi/addrled.rs
@@ -91,7 +91,11 @@ impl AdiAddrLed {
             self.buffer[index] = color.into();
 
             bail_on!(PROS_ERR, unsafe {
-                pros_sys::ext_adi_led_set(self.raw, self.buffer.as_mut_ptr(), self.buffer.len() as u32)
+                pros_sys::ext_adi_led_set(
+                    self.raw,
+                    self.buffer.as_mut_ptr(),
+                    self.buffer.len() as u32,
+                )
             });
 
             Ok(())

From ed3b8c3c83084f22000dc89f6b04c391e7143cb6 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Sat, 27 Jan 2024 12:33:16 -0600
Subject: [PATCH 16/96] fix: ADI error handling

---
 packages/pros/src/devices/adi/mod.rs          | 30 ++++++++-----------
 .../pros/src/devices/adi/potentiometer.rs     |  4 +--
 2 files changed, 15 insertions(+), 19 deletions(-)

diff --git a/packages/pros/src/devices/adi/mod.rs b/packages/pros/src/devices/adi/mod.rs
index 4cc6aa2a..f040532d 100644
--- a/packages/pros/src/devices/adi/mod.rs
+++ b/packages/pros/src/devices/adi/mod.rs
@@ -1,6 +1,6 @@
 //! ADI (Triport) devices on the Vex V5.
 
-use pros_sys::{adi_port_config_e_t, PROS_ERR};
+use pros_sys::{adi_port_config_e_t, E_ADI_ERR, PROS_ERR};
 use snafu::Snafu;
 
 use crate::error::{bail_on, map_errno, PortError};
@@ -119,6 +119,8 @@ impl TryFrom<adi_port_config_e_t> for AdiDeviceType {
     type Error = AdiError;
 
     fn try_from(value: adi_port_config_e_t) -> Result<Self, Self::Error> {
+        bail_on!(E_ADI_ERR, value);
+
         match value {
             pros_sys::E_ADI_ANALOG_IN => Ok(AdiDeviceType::AnalogIn),
             pros_sys::E_ADI_ANALOG_OUT => Ok(AdiDeviceType::AnalogOut),
@@ -133,7 +135,7 @@ impl TryFrom<adi_port_config_e_t> for AdiDeviceType {
             pros_sys::E_ADI_LEGACY_ENCODER => Ok(AdiDeviceType::LegacyEncoder),
             pros_sys::E_ADI_LEGACY_ULTRASONIC => Ok(AdiDeviceType::LegacyUltrasonic),
 
-            _ => Err(AdiError::InvalidConfigType),
+            _ => Err(AdiError::UnknownDeviceType),
         }
     }
 }
@@ -149,25 +151,18 @@ pub enum AdiError {
     #[snafu(display("Another resource is currently trying to access the ADI."))]
     AlreadyInUse,
 
-    #[snafu(display(
-        "The port specified has been reconfigured or is not configured for digital input."
-    ))]
-    DigitalInputNotConfigured,
-
-    #[snafu(display(
-        "The port type specified is invalid, and cannot be used to configure a port."
-    ))]
-    InvalidConfigType,
+    #[snafu(display("PROS returned an unrecognized device type."))]
+    UnknownDeviceType,
 
-    #[snafu(display("The port has already been configured."))]
-    AlreadyConfigured,
-
-    #[snafu(display("The port specified is invalid."))]
-    InvalidPort,
+    #[snafu(display("The port specified has not been configured for the device type specified."))]
+    PortNotConfigured,
 
     #[snafu(display("ADI devices may only be initialized from one expander port."))]
     ExpanderPortMismatch,
 
+    #[snafu(display("A given value is not correct, or the buffer is null."))]
+    InvalidValue,
+
     #[snafu(display("{source}"), context(false))]
     Port { source: PortError },
 }
@@ -175,7 +170,8 @@ pub enum AdiError {
 map_errno! {
     AdiError {
         EACCES => Self::AlreadyInUse,
-        EADDRINUSE => Self::DigitalInputNotConfigured,
+        EADDRINUSE => Self::PortNotConfigured,
+        EINVAL => Self::InvalidValue,
     }
     inherit PortError;
 }
diff --git a/packages/pros/src/devices/adi/potentiometer.rs b/packages/pros/src/devices/adi/potentiometer.rs
index 240122f5..ec82ee3f 100644
--- a/packages/pros/src/devices/adi/potentiometer.rs
+++ b/packages/pros/src/devices/adi/potentiometer.rs
@@ -1,4 +1,4 @@
-use pros_sys::{adi_potentiometer_type_e_t, ext_adi_potentiometer_t, PROS_ERR};
+use pros_sys::{adi_potentiometer_type_e_t, ext_adi_potentiometer_t, PROS_ERR, PROS_ERR_F};
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
 use crate::error::bail_on;
@@ -39,7 +39,7 @@ impl AdiPotentiometer {
     /// Potentiometer V2 rotates 330 degrees
     /// thus returning an angle between 0-330 degrees.
     pub fn angle(&self) -> Result<f64, AdiError> {
-        Ok(bail_on!(PROS_ERR.into(), unsafe {
+        Ok(bail_on!(PROS_ERR_F, unsafe {
             pros_sys::ext_adi_potentiometer_get_angle(self.raw)
         }))
     }

From 7077ffebbe44f0d097b9dc158c31913165d81ab0 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Sat, 27 Jan 2024 22:32:30 -0600
Subject: [PATCH 17/96] fix: AdiGyro error handling

---
 packages/pros/src/devices/adi/gyro.rs | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/packages/pros/src/devices/adi/gyro.rs b/packages/pros/src/devices/adi/gyro.rs
index 939e6e3c..3e959a68 100644
--- a/packages/pros/src/devices/adi/gyro.rs
+++ b/packages/pros/src/devices/adi/gyro.rs
@@ -1,4 +1,4 @@
-use pros_sys::{ext_adi_gyro_t, PROS_ERR};
+use pros_sys::{ext_adi_gyro_t, PROS_ERR, PROS_ERR_F};
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
 use crate::error::bail_on;
@@ -12,7 +12,7 @@ pub struct AdiGyro {
 impl AdiGyro {
     /// Create a new gyro from an [`AdiPort`].
     pub fn new(port: AdiPort, multiplier: f64) -> Result<Self, AdiError> {
-        let raw = bail_on!(PROS_ERR.into(), unsafe {
+        let raw = bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_gyro_init(port.internal_expander_index(), port.index(), multiplier)
         });
 
@@ -23,14 +23,14 @@ impl AdiGyro {
     ///
     /// There are 360 degrees in a circle, thus the gyro will return 3600 for one whole rotation.
     pub fn value(&self) -> Result<f64, AdiError> {
-        Ok(bail_on!(PROS_ERR.into(), unsafe {
+        Ok(bail_on!(PROS_ERR_F, unsafe {
             pros_sys::ext_adi_gyro_get(self.raw)
         }))
     }
 
     /// Reset the current gyro angle to zero degrees.
     pub fn zero(&mut self) -> Result<(), AdiError> {
-        bail_on!(PROS_ERR.into(), unsafe {
+        bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_gyro_reset(self.raw)
         });
         Ok(())

From 144e11f81562e268689562dc2ebde52fff6e8aed Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Thu, 1 Feb 2024 13:36:19 -0600
Subject: [PATCH 18/96] refactor: remove useless early return

---
 packages/pros/src/devices/adi/mod.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/packages/pros/src/devices/adi/mod.rs b/packages/pros/src/devices/adi/mod.rs
index f040532d..4e7e8e9a 100644
--- a/packages/pros/src/devices/adi/mod.rs
+++ b/packages/pros/src/devices/adi/mod.rs
@@ -72,10 +72,10 @@ impl AdiPort {
 
     /// Get the type of device this port is currently configured as.
     pub fn configured_type(&self) -> Result<AdiDeviceType, AdiError> {
-        Ok(bail_on!(PROS_ERR, unsafe {
+        bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi::ext_adi_port_get_config(self.internal_expander_index(), self.index())
         })
-        .try_into()?)
+        .try_into()
     }
 }
 

From dcae8d8b77f923e3d4f2f77af715503b25d2e4d8 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Mon, 5 Feb 2024 13:41:50 -0600
Subject: [PATCH 19/96] refactor: digital i/o

---
 packages/pros/src/devices/adi/analog.rs   |  1 +
 packages/pros/src/devices/adi/digital.rs  | 82 +++++++++++++++--------
 packages/pros/src/devices/adi/mod.rs      |  1 +
 packages/pros/src/devices/adi/solenoid.rs | 34 +++++-----
 packages/pros/src/devices/adi/switch.rs   | 63 +++++++++++++++++
 packages/pros/src/devices/mod.rs          |  4 +-
 6 files changed, 141 insertions(+), 44 deletions(-)
 create mode 100644 packages/pros/src/devices/adi/switch.rs

diff --git a/packages/pros/src/devices/adi/analog.rs b/packages/pros/src/devices/adi/analog.rs
index 2023c4ea..a322a56d 100644
--- a/packages/pros/src/devices/adi/analog.rs
+++ b/packages/pros/src/devices/adi/analog.rs
@@ -3,6 +3,7 @@ use pros_sys::PROS_ERR;
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
 use crate::error::bail_on;
 
+/// Generic analog input ADI device.
 #[derive(Debug, Eq, PartialEq)]
 pub struct AdiAnalogIn {
     port: AdiPort,
diff --git a/packages/pros/src/devices/adi/digital.rs b/packages/pros/src/devices/adi/digital.rs
index 00f2b84e..43bf5a90 100644
--- a/packages/pros/src/devices/adi/digital.rs
+++ b/packages/pros/src/devices/adi/digital.rs
@@ -3,6 +3,37 @@ use pros_sys::PROS_ERR;
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
 use crate::error::bail_on;
 
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+pub enum LogicLevel {
+    High,
+    Low,
+}
+
+impl LogicLevel {
+    pub fn is_high(&self) -> bool {
+        match self {
+            Self::High => true,
+            Self::Low => false,
+        }
+    }
+
+    pub fn is_low(&self) -> bool {
+        !self.is_high()
+    }
+}
+
+impl core::ops::Not for LogicLevel {
+    type Output = Self;
+
+    fn not(self) -> Self::Output {
+        match self {
+            Self::Low => Self::High,
+            Self::High => Self::Low,
+        }
+    }
+}
+
+/// Generic digital input ADI device.
 #[derive(Debug, Eq, PartialEq)]
 pub struct AdiDigitalIn {
     port: AdiPort,
@@ -14,29 +45,15 @@ impl AdiDigitalIn {
         Self { port }
     }
 
-    /// Gets a rising-edge case for a digital button press.
-    pub fn new_press(&mut self) -> Result<bool, AdiError> {
-        Ok(unsafe {
-            bail_on!(
-                PROS_ERR,
-                pros_sys::ext_adi_digital_get_new_press(
-                    self.port.internal_expander_index(),
-                    self.port.index()
-                )
-            ) != 0
-        })
-    }
+    /// Gets the current logic level of a digital input pin.
+    pub fn level(&self) -> Result<LogicLevel, AdiError> {
+        let value = bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_digital_read(self.port.internal_expander_index(), self.port.index())
+        }) != 0;
 
-    /// Gets the current value of a digital input pin.
-    pub fn value(&self) -> Result<bool, AdiError> {
-        Ok(unsafe {
-            bail_on!(
-                PROS_ERR,
-                pros_sys::ext_adi_digital_read(
-                    self.port.internal_expander_index(),
-                    self.port.index()
-                )
-            ) != 0
+        Ok(match value {
+            true => LogicLevel::High,
+            false => LogicLevel::Low,
         })
     }
 }
@@ -57,6 +74,7 @@ impl AdiDevice for AdiDigitalIn {
     }
 }
 
+/// Generic digital output ADI device.
 #[derive(Debug, Eq, PartialEq)]
 pub struct AdiDigitalOut {
     port: AdiPort,
@@ -68,15 +86,25 @@ impl AdiDigitalOut {
         Self { port }
     }
 
-    /// Sets the digital value (1 or 0) of a pin.
-    pub fn set_value(&mut self, value: bool) -> Result<i32, AdiError> {
-        Ok(bail_on!(PROS_ERR, unsafe {
+    /// Sets the digital logic level (high or low) of a pin.
+    pub fn set_level(&mut self, level: LogicLevel) -> Result<(), AdiError> {
+        bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_digital_write(
                 self.port.internal_expander_index(),
                 self.port.index(),
-                value,
+                level.is_high(),
             )
-        }))
+        });
+
+        Ok(())
+    }
+
+    pub fn set_high(&mut self) -> Result<(), AdiError> {
+        self.set_level(LogicLevel::High)
+    }
+
+    pub fn set_low(&mut self) -> Result<(), AdiError> {
+        self.set_level(LogicLevel::Low)
     }
 }
 
diff --git a/packages/pros/src/devices/adi/mod.rs b/packages/pros/src/devices/adi/mod.rs
index a2668655..2e30ab9f 100644
--- a/packages/pros/src/devices/adi/mod.rs
+++ b/packages/pros/src/devices/adi/mod.rs
@@ -15,6 +15,7 @@ pub mod motor;
 pub mod potentiometer;
 pub mod solenoid;
 pub mod ultrasonic;
+pub mod switch;
 
 pub use addrled::AdiAddrLed;
 pub use analog::{AdiAnalogIn, AdiAnalogOut};
diff --git a/packages/pros/src/devices/adi/solenoid.rs b/packages/pros/src/devices/adi/solenoid.rs
index c4234fbe..d058f946 100644
--- a/packages/pros/src/devices/adi/solenoid.rs
+++ b/packages/pros/src/devices/adi/solenoid.rs
@@ -1,46 +1,48 @@
 use pros_sys::PROS_ERR;
 
-use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
+use super::{digital::LogicLevel, AdiDevice, AdiDeviceType, AdiError, AdiPort};
 use crate::error::bail_on;
 
 #[derive(Debug, Eq, PartialEq)]
 pub struct AdiSolenoid {
     port: AdiPort,
-    value: bool,
+    level: LogicLevel,
 }
 
 impl AdiSolenoid {
     /// Create an AdiSolenoid.
     pub fn new(port: AdiPort) -> Self {
-        Self { port, value: false }
+        Self { port, level: LogicLevel::Low }
     }
 
-    pub fn set_value(&mut self, value: bool) -> Result<i32, AdiError> {
-        self.value = true;
+    pub fn set_level(&mut self, level: LogicLevel) -> Result<(), AdiError> {
+        self.level = level;
 
-        Ok(bail_on!(PROS_ERR, unsafe {
+        bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_digital_write(
                 self.port.internal_expander_index(),
                 self.port.index(),
-                value,
+                level.is_high(),
             )
-        }))
+        });
+
+        Ok(())
     }
 
-    pub fn value(&self) -> bool {
-        self.value
+    pub fn level(&self) -> LogicLevel {
+        self.level
     }
 
-    pub fn open(&mut self) -> Result<i32, AdiError> {
-        self.set_value(true)
+    pub fn open(&mut self) -> Result<(), AdiError> {
+        self.set_level(LogicLevel::High)
     }
 
-    pub fn close(&mut self) -> Result<i32, AdiError> {
-        self.set_value(false)
+    pub fn close(&mut self) -> Result<(), AdiError> {
+        self.set_level(LogicLevel::Low)
     }
 
-    pub fn toggle(&mut self) -> Result<i32, AdiError> {
-        self.set_value(!self.value)
+    pub fn toggle(&mut self) -> Result<(), AdiError> {
+        self.set_level(!self.level)
     }
 }
 
diff --git a/packages/pros/src/devices/adi/switch.rs b/packages/pros/src/devices/adi/switch.rs
new file mode 100644
index 00000000..b306f936
--- /dev/null
+++ b/packages/pros/src/devices/adi/switch.rs
@@ -0,0 +1,63 @@
+use pros_sys::PROS_ERR;
+
+use super::{AdiDevice, AdiDeviceType, AdiDigitalIn, AdiError, AdiPort, digital::LogicLevel};
+use crate::error::bail_on;
+
+/// Generic digital input ADI device.
+#[derive(Debug, Eq, PartialEq)]
+pub struct AdiSwitch {
+    port: AdiPort,
+}
+
+impl AdiSwitch {
+    /// Create a digital input from an ADI port.
+    pub const fn new(port: AdiPort) -> Self {
+        Self { port }
+    }
+
+    /// Gets the current logic level of a digital switch.
+    pub fn level(&self) -> Result<LogicLevel, AdiError> {
+        let value = bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_digital_read(self.port.internal_expander_index(), self.port.index())
+        }) != 0;
+
+        Ok(match value {
+            true => LogicLevel::High,
+            false => LogicLevel::Low,
+        })
+    }
+
+	pub fn pressed(&self) -> Result<bool, AdiError> {
+		Ok(self.level()?.is_high())
+	}
+
+    pub fn pressed_again(&mut self) -> Result<bool, AdiError> {
+		Ok(bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_digital_get_new_press(self.port.internal_expander_index(), self.port.index())
+        }) != 0)
+	}
+}
+
+impl From<AdiDigitalIn> for AdiSwitch {
+    fn from(device: AdiDigitalIn) -> Self {
+        Self {
+            port: unsafe { AdiPort::new(device.port_index(), device.expander_port_index()) },
+        }
+    }
+}
+
+impl AdiDevice for AdiSwitch {
+    type PortIndexOutput = u8;
+
+    fn port_index(&self) -> Self::PortIndexOutput {
+        self.port.index()
+    }
+
+    fn expander_port_index(&self) -> Option<u8> {
+        self.port.expander_index()
+    }
+
+    fn device_type(&self) -> AdiDeviceType {
+        AdiDeviceType::DigitalIn
+    }
+}
diff --git a/packages/pros/src/devices/mod.rs b/packages/pros/src/devices/mod.rs
index 29fa348a..700a576f 100644
--- a/packages/pros/src/devices/mod.rs
+++ b/packages/pros/src/devices/mod.rs
@@ -4,7 +4,7 @@
 //!
 //! # Overview
 //!
-//! The V5 brain features 21 RJ11 4p4c connector ports (known as "Smart Ports") for communicating with
+//! The V5 brain features 21 RJ9 4p4c connector ports (known as "Smart Ports") for communicating with
 //! newer V5 peripherals, as well as six 3-wire ports with analog-to-digital conversion capability for
 //! compatibility with legacy cortex devices. This module provides access for both smart devices and
 //! ADI devices.
@@ -24,6 +24,8 @@ pub mod battery;
 pub mod controller;
 pub mod peripherals;
 pub mod position;
+pub mod screen;
 
 pub use controller::Controller;
 pub use position::Position;
+pub use screen::Screen;

From 96ef69979a28b8e6f850d098ba55f07a5d997780 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Tue, 6 Feb 2024 10:37:31 -0600
Subject: [PATCH 20/96] document pressed_again in AdiSwitch

---
 packages/pros/src/devices/adi/addrled.rs |  8 +-------
 packages/pros/src/devices/adi/switch.rs  | 16 ++++++++++++++++
 2 files changed, 17 insertions(+), 7 deletions(-)

diff --git a/packages/pros/src/devices/adi/addrled.rs b/packages/pros/src/devices/adi/addrled.rs
index 793fe916..9c0a1aa8 100644
--- a/packages/pros/src/devices/adi/addrled.rs
+++ b/packages/pros/src/devices/adi/addrled.rs
@@ -138,13 +138,7 @@ impl smart_leds_trait::SmartLedsWrite for AdiAddrLed {
         T: IntoIterator<Item = I>,
         I: Into<Self::Color>,
     {
-        self.buffer = iterator.into_iter().map(|i| i.into()).collect::<Vec<_>>();
-
-        bail_on!(PROS_ERR, unsafe {
-            pros_sys::ext_adi_led_set(self.raw, self.buffer.as_mut_ptr(), self.buffer.len() as u32)
-        });
-
-        Ok(())
+        self.set_buffer(iterator)
     }
 }
 
diff --git a/packages/pros/src/devices/adi/switch.rs b/packages/pros/src/devices/adi/switch.rs
index b306f936..df100973 100644
--- a/packages/pros/src/devices/adi/switch.rs
+++ b/packages/pros/src/devices/adi/switch.rs
@@ -27,10 +27,26 @@ impl AdiSwitch {
         })
     }
 
+    /// Returrns `true` if the switch is currently being pressed.
+    ///
+    /// This is equivalent shorthand to calling `Self::level().is_high()`.
 	pub fn pressed(&self) -> Result<bool, AdiError> {
 		Ok(self.level()?.is_high())
 	}
 
+    /// Returns `true` if the switch has been pressed again since the last time this
+    /// function was called.
+    ///
+    /// # Thread Safety
+    ///
+    /// This function is not thread-safe.
+    ///
+    /// Multiple tasks polling a single button may return different results under the
+    /// same circumstances, so only one task should call this function for any given
+    /// switch. E.g., Task A calls this function for buttons 1 and 2. Task B may call
+    /// this function for button 3, but should not for buttons 1 or 2. A typical
+    /// use-case for this function is to call inside opcontrol to detect new button
+    /// presses, and not in any other tasks.
     pub fn pressed_again(&mut self) -> Result<bool, AdiError> {
 		Ok(bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_digital_get_new_press(self.port.internal_expander_index(), self.port.index())

From 95fbdd0d88ed0302ff02df2d6edbd3886aab43b2 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Fri, 9 Feb 2024 22:37:50 -0600
Subject: [PATCH 21/96] refactor: digital ADI API

---
 packages/pros/src/devices/adi/addrled.rs    | 48 ++++++++++++++++-----
 packages/pros/src/devices/adi/digital.rs    | 28 ++++++++++++
 packages/pros/src/devices/adi/solenoid.rs   | 24 +++++++++++
 packages/pros/src/devices/adi/switch.rs     |  6 ++-
 packages/pros/src/devices/adi/ultrasonic.rs |  6 ++-
 5 files changed, 98 insertions(+), 14 deletions(-)

diff --git a/packages/pros/src/devices/adi/addrled.rs b/packages/pros/src/devices/adi/addrled.rs
index 9c0a1aa8..b4b27d09 100644
--- a/packages/pros/src/devices/adi/addrled.rs
+++ b/packages/pros/src/devices/adi/addrled.rs
@@ -1,11 +1,20 @@
+//! ADI Addressable LEDs
+//!
+//! This module contains abstractions for interacting with WS2812B addressable smart LED
+//! strips over ADI ports.
+
 use alloc::vec::Vec;
 
 use pros_sys::{ext_adi_led_t, PROS_ERR};
 use snafu::Snafu;
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use crate::error::{bail_on, map_errno};
+use crate::{
+    color::IntoRgb,
+    error::{bail_on, map_errno},
+};
 
+/// WS2812B Addressable LED Strip
 #[derive(Debug, Eq, PartialEq)]
 pub struct AdiAddrLed {
     raw: ext_adi_led_t,
@@ -13,6 +22,7 @@ pub struct AdiAddrLed {
     port: AdiPort,
 }
 
+/// The max number of LED diodes on one strip that a single ADI port can control.
 pub const MAX_LED_LENGTH: usize = 64;
 
 impl AdiAddrLed {
@@ -57,13 +67,13 @@ impl AdiAddrLed {
     }
 
     /// Set the entire led strip to one color
-    pub fn set_all(&mut self, color: impl Into<u32>) -> Result<(), AddrLedError> {
+    pub fn set_all(&mut self, color: impl IntoRgb) -> Result<(), AddrLedError> {
         bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_led_set_all(
                 self.raw,
                 self.buffer.as_mut_ptr(),
                 self.buffer.len() as u32,
-                color.into(),
+                color.into_rgb().into(),
             )
         });
 
@@ -74,9 +84,12 @@ impl AdiAddrLed {
     pub fn set_buffer<T, I>(&mut self, buf: T) -> Result<(), AddrLedError>
     where
         T: IntoIterator<Item = I>,
-        I: Into<u32>,
+        I: IntoRgb,
     {
-        self.buffer = buf.into_iter().map(|i| i.into()).collect::<Vec<_>>();
+        self.buffer = buf
+            .into_iter()
+            .map(|i| i.into_rgb().into())
+            .collect::<Vec<_>>();
 
         bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_led_set(self.raw, self.buffer.as_mut_ptr(), self.buffer.len() as u32)
@@ -86,9 +99,9 @@ impl AdiAddrLed {
     }
 
     /// Set the color of a single LED on the strip.
-    pub fn set_pixel(&mut self, index: usize, color: impl Into<u32>) -> Result<(), AddrLedError> {
+    pub fn set_pixel(&mut self, index: usize, color: impl IntoRgb) -> Result<(), AddrLedError> {
         if self.buffer.get(index).is_some() {
-            self.buffer[index] = color.into();
+            self.buffer[index] = color.into_rgb().into();
 
             bail_on!(PROS_ERR, unsafe {
                 pros_sys::ext_adi_led_set(
@@ -131,26 +144,41 @@ impl AdiDevice for AdiAddrLed {
 #[cfg(feature = "smart-leds-trait")]
 impl smart_leds_trait::SmartLedsWrite for AdiAddrLed {
     type Error = AddrLedError;
-    type Color = u32;
+    type Color = Rgb;
 
     fn write<T, I>(&mut self, iterator: T) -> Result<(), Self::Error>
     where
         T: IntoIterator<Item = I>,
         I: Into<Self::Color>,
     {
-        self.set_buffer(iterator)
+        self.buffer = iterator
+            .into_iter()
+            .map(|i| i.into().into())
+            .collect::<Vec<_>>();
+
+        bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_led_set(self.raw, self.buffer.as_mut_ptr(), self.buffer.len() as u32)
+        });
+
+        Ok(())
     }
 }
 
+/// Errors that can occur when interacting with an Addrled strip.
 #[derive(Debug, Snafu)]
 pub enum AddrLedError {
+    /// Failed to access LED buffer. A given value is not correct, or the buffer is null.
     #[snafu(display(
         "Failed to access LED buffer. A given value is not correct, or the buffer is null."
     ))]
     InvalidBufferAccess,
 
     #[snafu(display("{source}"), context(false))]
-    Adi { source: AdiError },
+    /// Generic ADI related error.
+    Adi {
+        /// The source of the error
+        source: AdiError,
+    },
 }
 
 map_errno! {
diff --git a/packages/pros/src/devices/adi/digital.rs b/packages/pros/src/devices/adi/digital.rs
index 87b7e7a8..d959079f 100644
--- a/packages/pros/src/devices/adi/digital.rs
+++ b/packages/pros/src/devices/adi/digital.rs
@@ -5,13 +5,26 @@ use pros_sys::PROS_ERR;
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
 use crate::error::bail_on;
 
+/// Represents the logic level of a digital pin.
+///
+/// On digital devices, logic levels represent the two possible voltage signals that define
+/// the state of a pin. This value is either [`High`] or [`Low`], depending on the intended
+/// state of the device.
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub enum LogicLevel {
+    /// A high digital signal.
+    ///
+    /// ADI ports operate on 3.3V logic, so this value indicates a voltage of 3.3V or above.
     High,
+
+    /// The low digital signal.
+    ///
+    /// ADI ports operate on 3.3V logic, so this value indicates a voltage below 3.3V.
     Low,
 }
 
 impl LogicLevel {
+    /// Returns `true` if the level is [`High`].
     pub fn is_high(&self) -> bool {
         match self {
             Self::High => true,
@@ -19,6 +32,7 @@ impl LogicLevel {
         }
     }
 
+    /// Returns `true` if the level is [`Low`].
     pub fn is_low(&self) -> bool {
         !self.is_high()
     }
@@ -59,6 +73,16 @@ impl AdiDigitalIn {
             false => LogicLevel::Low,
         })
     }
+
+    /// Returns `true` if the digital input's logic level level is [`LogicLevel::High`].
+    pub fn is_high(&self) -> Result<bool, AdiError> {
+        Ok(self.level()?.is_high())
+    }
+
+    /// Returns `true` if the digital input's logic level level is [`LogicLevel::Low`].
+    pub fn is_low(&self) -> Result<bool, AdiError> {
+        Ok(self.level()?.is_high())
+    }
 }
 
 impl AdiDevice for AdiDigitalIn {
@@ -103,10 +127,14 @@ impl AdiDigitalOut {
         Ok(())
     }
 
+    /// Set the digital logic level to [`LogicLevel::High`]. Analagous to
+    /// [`Self::set_level(LogicLevel::High)`].
     pub fn set_high(&mut self) -> Result<(), AdiError> {
         self.set_level(LogicLevel::High)
     }
 
+    /// Set the digital logic level to [`LogicLevel::Low`]. Analagous to
+    /// [`Self::set_level(LogicLevel::Low)`].
     pub fn set_low(&mut self) -> Result<(), AdiError> {
         self.set_level(LogicLevel::Low)
     }
diff --git a/packages/pros/src/devices/adi/solenoid.rs b/packages/pros/src/devices/adi/solenoid.rs
index d058f946..de969f65 100644
--- a/packages/pros/src/devices/adi/solenoid.rs
+++ b/packages/pros/src/devices/adi/solenoid.rs
@@ -1,8 +1,11 @@
+//! ADI Solenoid Pneumatic Control
+
 use pros_sys::PROS_ERR;
 
 use super::{digital::LogicLevel, AdiDevice, AdiDeviceType, AdiError, AdiPort};
 use crate::error::bail_on;
 
+/// Digital pneumatic solenoid valve.
 #[derive(Debug, Eq, PartialEq)]
 pub struct AdiSolenoid {
     port: AdiPort,
@@ -15,6 +18,8 @@ impl AdiSolenoid {
         Self { port, level: LogicLevel::Low }
     }
 
+    /// Sets the digital logic level of the solenoid. [`LogicLevel::Low`] will close the solenoid,
+    /// and [`LogicLevel::High`] will open it.
     pub fn set_level(&mut self, level: LogicLevel) -> Result<(), AdiError> {
         self.level = level;
 
@@ -29,18 +34,37 @@ impl AdiSolenoid {
         Ok(())
     }
 
+    /// Returns the current [`LogicLevel`] of the solenoid's digital output state.
     pub fn level(&self) -> LogicLevel {
         self.level
     }
 
+    /// Returns `true` if the solenoid is open.
+    pub fn is_open(&self) -> LogicLevel {
+        self.level
+    }
+
+    /// Returns `true` if the solenoid is closed.
+    pub fn is_closed(&self) -> LogicLevel {
+        self.level
+    }
+
+    /// Open the solenoid, allowing air pressure through the "open" valve.
     pub fn open(&mut self) -> Result<(), AdiError> {
         self.set_level(LogicLevel::High)
     }
 
+    /// Close the solenoid.
+    ///
+    /// - On single-acting solenoids (e.g. SY113-SMO-PM3-F), this will simply block air pressure
+    /// through the "open" valve.
+    /// - On double-acting solenoids (e.g. SYJ3120-SMO-M3-F), this will block air pressure through
+    /// the "open" valve and allow air pressure into the "close" valve.
     pub fn close(&mut self) -> Result<(), AdiError> {
         self.set_level(LogicLevel::Low)
     }
 
+    /// Toggle the solenoid's state between open and closed.
     pub fn toggle(&mut self) -> Result<(), AdiError> {
         self.set_level(!self.level)
     }
diff --git a/packages/pros/src/devices/adi/switch.rs b/packages/pros/src/devices/adi/switch.rs
index df100973..c5101ff1 100644
--- a/packages/pros/src/devices/adi/switch.rs
+++ b/packages/pros/src/devices/adi/switch.rs
@@ -1,3 +1,5 @@
+//! ADI Digital Switch
+
 use pros_sys::PROS_ERR;
 
 use super::{AdiDevice, AdiDeviceType, AdiDigitalIn, AdiError, AdiPort, digital::LogicLevel};
@@ -30,7 +32,7 @@ impl AdiSwitch {
     /// Returrns `true` if the switch is currently being pressed.
     ///
     /// This is equivalent shorthand to calling `Self::level().is_high()`.
-	pub fn pressed(&self) -> Result<bool, AdiError> {
+	pub fn is_pressed(&self) -> Result<bool, AdiError> {
 		Ok(self.level()?.is_high())
 	}
 
@@ -47,7 +49,7 @@ impl AdiSwitch {
     /// this function for button 3, but should not for buttons 1 or 2. A typical
     /// use-case for this function is to call inside opcontrol to detect new button
     /// presses, and not in any other tasks.
-    pub fn pressed_again(&mut self) -> Result<bool, AdiError> {
+    pub fn was_pressed(&mut self) -> Result<bool, AdiError> {
 		Ok(bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_digital_get_new_press(self.port.internal_expander_index(), self.port.index())
         }) != 0)
diff --git a/packages/pros/src/devices/adi/ultrasonic.rs b/packages/pros/src/devices/adi/ultrasonic.rs
index 3a3a63ee..d85cb54c 100644
--- a/packages/pros/src/devices/adi/ultrasonic.rs
+++ b/packages/pros/src/devices/adi/ultrasonic.rs
@@ -39,8 +39,10 @@ impl AdiUltrasonic {
         })
     }
 
-    /// Gets the current ultrasonic sensor value in centimeters.
-    pub fn value(&self) -> Result<i32, AdiError> {
+    /// Get the distance of a surface to the ultrasonic sensor's mounting point in centimeters.
+    ///
+    /// Round and fluffy objects can cause inaccurate values to be returned.
+    pub fn distance(&self) -> Result<i32, AdiError> {
         Ok(bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_ultrasonic_get(self.raw)
         }))

From eb50b3d1578fc6b29a0e2447b7b068eb83c1ea88 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Sat, 10 Feb 2024 13:11:35 -0600
Subject: [PATCH 22/96] refactor: strip out LEDs from this PR

---
 packages/pros/src/devices/adi/addrled.rs      | 189 ------------------
 packages/pros/src/devices/adi/gyro.rs         |   2 +-
 packages/pros/src/devices/adi/mod.rs          |   2 -
 .../pros/src/devices/adi/potentiometer.rs     |   2 +-
 packages/pros/src/lib.rs                      |   1 -
 5 files changed, 2 insertions(+), 194 deletions(-)
 delete mode 100644 packages/pros/src/devices/adi/addrled.rs

diff --git a/packages/pros/src/devices/adi/addrled.rs b/packages/pros/src/devices/adi/addrled.rs
deleted file mode 100644
index b4b27d09..00000000
--- a/packages/pros/src/devices/adi/addrled.rs
+++ /dev/null
@@ -1,189 +0,0 @@
-//! ADI Addressable LEDs
-//!
-//! This module contains abstractions for interacting with WS2812B addressable smart LED
-//! strips over ADI ports.
-
-use alloc::vec::Vec;
-
-use pros_sys::{ext_adi_led_t, PROS_ERR};
-use snafu::Snafu;
-
-use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use crate::{
-    color::IntoRgb,
-    error::{bail_on, map_errno},
-};
-
-/// WS2812B Addressable LED Strip
-#[derive(Debug, Eq, PartialEq)]
-pub struct AdiAddrLed {
-    raw: ext_adi_led_t,
-    buffer: Vec<u32>,
-    port: AdiPort,
-}
-
-/// The max number of LED diodes on one strip that a single ADI port can control.
-pub const MAX_LED_LENGTH: usize = 64;
-
-impl AdiAddrLed {
-    /// Initialize an LED strip on an ADI port from a buffer of light colors.
-    pub fn new<T, I>(port: AdiPort, buf: T) -> Result<Self, AddrLedError>
-    where
-        T: IntoIterator<Item = I>,
-        I: Into<u32>,
-    {
-        let raw = bail_on!(PROS_ERR, unsafe {
-            pros_sys::ext_adi_led_init(port.internal_expander_index(), port.index())
-        });
-
-        let mut device = Self {
-            port,
-            raw,
-            buffer: buf.into_iter().map(|i| i.into()).collect::<Vec<_>>(),
-        };
-
-        bail_on!(PROS_ERR, unsafe {
-            pros_sys::ext_adi_led_set(
-                device.raw,
-                device.buffer.as_mut_ptr(),
-                device.buffer.len() as u32,
-            )
-        });
-
-        Ok(device)
-    }
-
-    /// Clear the entire led strip of color.
-    pub fn clear_all(&mut self) -> Result<(), AddrLedError> {
-        bail_on!(PROS_ERR, unsafe {
-            pros_sys::ext_adi_led_clear_all(
-                self.raw,
-                self.buffer.as_mut_ptr(),
-                self.buffer.len() as u32,
-            )
-        });
-
-        Ok(())
-    }
-
-    /// Set the entire led strip to one color
-    pub fn set_all(&mut self, color: impl IntoRgb) -> Result<(), AddrLedError> {
-        bail_on!(PROS_ERR, unsafe {
-            pros_sys::ext_adi_led_set_all(
-                self.raw,
-                self.buffer.as_mut_ptr(),
-                self.buffer.len() as u32,
-                color.into_rgb().into(),
-            )
-        });
-
-        Ok(())
-    }
-
-    /// Set the entire led strip using the colors contained in a new buffer.
-    pub fn set_buffer<T, I>(&mut self, buf: T) -> Result<(), AddrLedError>
-    where
-        T: IntoIterator<Item = I>,
-        I: IntoRgb,
-    {
-        self.buffer = buf
-            .into_iter()
-            .map(|i| i.into_rgb().into())
-            .collect::<Vec<_>>();
-
-        bail_on!(PROS_ERR, unsafe {
-            pros_sys::ext_adi_led_set(self.raw, self.buffer.as_mut_ptr(), self.buffer.len() as u32)
-        });
-
-        Ok(())
-    }
-
-    /// Set the color of a single LED on the strip.
-    pub fn set_pixel(&mut self, index: usize, color: impl IntoRgb) -> Result<(), AddrLedError> {
-        if self.buffer.get(index).is_some() {
-            self.buffer[index] = color.into_rgb().into();
-
-            bail_on!(PROS_ERR, unsafe {
-                pros_sys::ext_adi_led_set(
-                    self.raw,
-                    self.buffer.as_mut_ptr(),
-                    self.buffer.len() as u32,
-                )
-            });
-
-            Ok(())
-        } else {
-            Err(AddrLedError::InvalidBufferAccess)
-        }
-    }
-
-    /// Clear one LED on the strip.
-    pub fn clear_pixel(&mut self, index: usize) -> Result<(), AddrLedError> {
-        self.set_pixel(index, 0u32)?;
-
-        Ok(())
-    }
-}
-
-impl AdiDevice for AdiAddrLed {
-    type PortIndexOutput = u8;
-
-    fn port_index(&self) -> Self::PortIndexOutput {
-        self.port.index()
-    }
-
-    fn expander_port_index(&self) -> Option<u8> {
-        self.port.expander_index()
-    }
-
-    fn device_type(&self) -> AdiDeviceType {
-        AdiDeviceType::DigitalOut
-    }
-}
-
-#[cfg(feature = "smart-leds-trait")]
-impl smart_leds_trait::SmartLedsWrite for AdiAddrLed {
-    type Error = AddrLedError;
-    type Color = Rgb;
-
-    fn write<T, I>(&mut self, iterator: T) -> Result<(), Self::Error>
-    where
-        T: IntoIterator<Item = I>,
-        I: Into<Self::Color>,
-    {
-        self.buffer = iterator
-            .into_iter()
-            .map(|i| i.into().into())
-            .collect::<Vec<_>>();
-
-        bail_on!(PROS_ERR, unsafe {
-            pros_sys::ext_adi_led_set(self.raw, self.buffer.as_mut_ptr(), self.buffer.len() as u32)
-        });
-
-        Ok(())
-    }
-}
-
-/// Errors that can occur when interacting with an Addrled strip.
-#[derive(Debug, Snafu)]
-pub enum AddrLedError {
-    /// Failed to access LED buffer. A given value is not correct, or the buffer is null.
-    #[snafu(display(
-        "Failed to access LED buffer. A given value is not correct, or the buffer is null."
-    ))]
-    InvalidBufferAccess,
-
-    #[snafu(display("{source}"), context(false))]
-    /// Generic ADI related error.
-    Adi {
-        /// The source of the error
-        source: AdiError,
-    },
-}
-
-map_errno! {
-    AddrLedError {
-        EINVAL => Self::InvalidBufferAccess,
-    }
-    inherit AdiError;
-}
diff --git a/packages/pros/src/devices/adi/gyro.rs b/packages/pros/src/devices/adi/gyro.rs
index 5cb8ffce..bc48caa7 100644
--- a/packages/pros/src/devices/adi/gyro.rs
+++ b/packages/pros/src/devices/adi/gyro.rs
@@ -1,6 +1,6 @@
 //! ADI gyro device.
 
-use pros_sys::{ext_adi_gyro_t, PROS_ERR};
+use pros_sys::{ext_adi_gyro_t, PROS_ERR, PROS_ERR_F};
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
 use crate::error::bail_on;
diff --git a/packages/pros/src/devices/adi/mod.rs b/packages/pros/src/devices/adi/mod.rs
index 2e2d14bf..d6fc8f11 100644
--- a/packages/pros/src/devices/adi/mod.rs
+++ b/packages/pros/src/devices/adi/mod.rs
@@ -9,7 +9,6 @@ use crate::error::{bail_on, map_errno, PortError};
 pub mod analog;
 pub mod digital;
 
-pub mod addrled;
 pub mod encoder;
 pub mod gyro;
 pub mod motor;
@@ -18,7 +17,6 @@ pub mod solenoid;
 pub mod ultrasonic;
 pub mod switch;
 
-pub use addrled::AdiAddrLed;
 pub use analog::{AdiAnalogIn, AdiAnalogOut};
 pub use digital::{AdiDigitalIn, AdiDigitalOut};
 pub use encoder::AdiEncoder;
diff --git a/packages/pros/src/devices/adi/potentiometer.rs b/packages/pros/src/devices/adi/potentiometer.rs
index a728508b..8cc66a7a 100644
--- a/packages/pros/src/devices/adi/potentiometer.rs
+++ b/packages/pros/src/devices/adi/potentiometer.rs
@@ -1,6 +1,6 @@
 //! ADI Potentiometer device.
 
-use pros_sys::{adi_potentiometer_type_e_t, ext_adi_potentiometer_t, PROS_ERR};
+use pros_sys::{adi_potentiometer_type_e_t, ext_adi_potentiometer_t, PROS_ERR, PROS_ERR_F};
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
 use crate::error::bail_on;
diff --git a/packages/pros/src/lib.rs b/packages/pros/src/lib.rs
index e40c91b2..3d9b0f10 100644
--- a/packages/pros/src/lib.rs
+++ b/packages/pros/src/lib.rs
@@ -377,7 +377,6 @@ pub mod prelude {
         color::Rgb,
         devices::{
             adi::{
-                addrled::AdiAddrLed,
                 analog::{AdiAnalogIn, AdiAnalogOut},
                 digital::{AdiDigitalIn, AdiDigitalOut},
                 encoder::AdiEncoder,

From e13cc54027655231f590cc0a2fd7abb6fff226f2 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sat, 10 Feb 2024 19:39:09 -0800
Subject: [PATCH 23/96] fix: pin rust toolchain version

---
 packages/pros/src/lib.rs | 2 +-
 rust-toolchain.toml      | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/packages/pros/src/lib.rs b/packages/pros/src/lib.rs
index 51bdec2a..4c799b93 100644
--- a/packages/pros/src/lib.rs
+++ b/packages/pros/src/lib.rs
@@ -52,7 +52,7 @@
 //! You may have noticed the `#[derive(Default)]` attribute on these Robot structs.
 //! If you want to learn why, look at the docs for [`async_robot`] or [`sync_robot`].
 
-#![feature(error_in_core, stdsimd, negative_impls)]
+#![feature(error_in_core, negative_impls)]
 #![no_std]
 #![warn(
     missing_docs,
diff --git a/rust-toolchain.toml b/rust-toolchain.toml
index 0a44ea93..a2fae3f5 100644
--- a/rust-toolchain.toml
+++ b/rust-toolchain.toml
@@ -1,4 +1,4 @@
 [toolchain]
-channel = "nightly"
-components = [ "rust-src" ]
-targets = [ "armv7a-none-eabi" ]
\ No newline at end of file
+channel = "nightly-2024-02-07"
+components = ["rust-src"]
+targets = ["armv7a-none-eabi"]

From 181cc474a38e846149d8311f2469336b920710f0 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sat, 10 Feb 2024 19:46:49 -0800
Subject: [PATCH 24/96] fix: update rust toolchain version in ci

---
 .github/workflows/rust.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index 1da706c5..bef8863e 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -14,7 +14,7 @@ jobs:
         uses: actions-rs/toolchain@v1
         with:
           profile: minimal
-          toolchain: nightly
+          toolchain: nightly-2024-02-07
           override: true
 
       - name: Check
@@ -33,7 +33,7 @@ jobs:
         uses: actions-rs/toolchain@v1
         with:
           profile: minimal
-          toolchain: nightly
+          toolchain: nightly-2024-02-07
           override: true
 
       - name: Setup | Install Rustfmt
@@ -57,4 +57,4 @@ jobs:
       with:
         reporter: 'github-pr-check'
         github_token: ${{ secrets.GITHUB_TOKEN }}
-        clippy_flags: --all-targets --all-features
\ No newline at end of file
+        clippy_flags: --all-targets --all-features

From 4a93f99c2092df721d5905f50c9043c31cf9aaad Mon Sep 17 00:00:00 2001
From: Gavin <94215019+Gavin-Niederman@users.noreply.github.com>
Date: Sat, 10 Feb 2024 20:20:32 -0800
Subject: [PATCH 25/96] docs: update changelog

---
 CHANGELOG.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index e8f0d3e9..f7e7b45f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -31,6 +31,8 @@ Before releasing:
 
 ### Fixed
 
+- Fix error handling and error type variats in ADI bindings
+
 ### Changed
 
 - Re-exported printing macros from `pros::io`. (#82)

From 940f8891bc9c7a9ab322ede0964ddad7a4f411a6 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sun, 11 Feb 2024 04:32:41 -0800
Subject: [PATCH 26/96] chore: format

---
 packages/pros/src/devices/adi/gyro.rs | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/packages/pros/src/devices/adi/gyro.rs b/packages/pros/src/devices/adi/gyro.rs
index 8a65ef5e..b720dbe6 100644
--- a/packages/pros/src/devices/adi/gyro.rs
+++ b/packages/pros/src/devices/adi/gyro.rs
@@ -32,9 +32,7 @@ impl AdiGyro {
 
     /// Reset the current gyro angle to zero degrees.
     pub fn zero(&mut self) -> Result<(), AdiError> {
-        bail_on!(PROS_ERR, unsafe {
-            pros_sys::ext_adi_gyro_reset(self.raw)
-        });
+        bail_on!(PROS_ERR, unsafe { pros_sys::ext_adi_gyro_reset(self.raw) });
         Ok(())
     }
 }

From ac6b962df25ab37ceeb8fffe129ced2d978d168f Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Sun, 11 Feb 2024 20:48:23 -0600
Subject: [PATCH 27/96] refactor: analog ADI

---
 packages/pros/src/devices/adi/analog.rs       | 88 +++++++++++++++----
 packages/pros/src/devices/adi/digital.rs      |  5 +-
 packages/pros/src/devices/adi/encoder.rs      |  4 +-
 packages/pros/src/devices/adi/gyro.rs         | 28 +++---
 packages/pros/src/devices/adi/linetracker.rs  | 78 ++++++++++++++++
 packages/pros/src/devices/adi/mod.rs          | 16 ++--
 packages/pros/src/devices/adi/motor.rs        | 19 +++-
 .../pros/src/devices/adi/potentiometer.rs     |  4 +-
 packages/pros/src/devices/adi/solenoid.rs     | 13 +--
 packages/pros/src/devices/adi/switch.rs       | 17 ++--
 packages/pros/src/devices/adi/ultrasonic.rs   | 15 +++-
 packages/pros/src/lib.rs                      |  2 +-
 12 files changed, 229 insertions(+), 60 deletions(-)
 create mode 100644 packages/pros/src/devices/adi/linetracker.rs

diff --git a/packages/pros/src/devices/adi/analog.rs b/packages/pros/src/devices/adi/analog.rs
index 9d877077..a5ceec3c 100644
--- a/packages/pros/src/devices/adi/analog.rs
+++ b/packages/pros/src/devices/adi/analog.rs
@@ -1,4 +1,12 @@
 //! Analog input and output ADI devices.
+//!
+//! # Overview
+//!
+//! Unlike digital ADI devices which can only report a "high" or "low" state, analog
+//! ADI devices may report a wide range of values spanning 0-5 volts. These analog
+//! voltages readings are then converted into a digital values using the internal
+//! Analog-to-Digital Converter (ADC) in the V5 brain. The brain measures analog input
+//! using 12-bit values ranging from 0 (0V) to 4095 (5V).
 
 use pros_sys::PROS_ERR;
 
@@ -7,7 +15,6 @@ use crate::error::bail_on;
 
 /// Generic analog input ADI device.
 #[derive(Debug, Eq, PartialEq)]
-/// Generic analog input ADI device.
 pub struct AdiAnalogIn {
     port: AdiPort,
 }
@@ -42,6 +49,8 @@ impl AdiAnalogIn {
 
     /// Reads an analog input channel and returns the 12-bit value.
     ///
+    /// # Sensor Compatibility
+    ///
     /// The value returned is undefined if the analog pin has been switched to a different mode.
     /// The meaning of the returned value varies depending on the sensor attached.
     pub fn value(&self) -> Result<i32, AdiError> {
@@ -50,14 +59,24 @@ impl AdiAnalogIn {
         }))
     }
 
+    /// Reads an analog input channel and returns the calculated voltage input (0-5V).
+    ///
+    /// # Sensor Compatibility
+    ///
+    /// The value returned is undefined if the analog pin has been switched to a different mode.
+    /// The meaning of the returned value varies depending on the sensor attached.
+    pub fn voltage(&self) -> Result<f64, AdiError> {
+        Ok(self.value()? as f64 / 4095.0 * 5.0)
+    }
+
     /// Reads the calibrated value of an analog input channel.
     ///
-    /// The calibrate function must be run first on that channel.
+    /// The [`Self::calibrate`] function must be run first on that channel.
     ///
     /// This function is inappropriate for sensor values intended for integration,
     /// as round-off error can accumulate causing drift over time.
-    /// Use value_calbrated_hr instead.
-    pub fn value_calibrated(&self) -> Result<i32, AdiError> {
+    /// Use [`Self::calibrated_value_hr`] instead.
+    pub fn calibrated_value(&self) -> Result<i32, AdiError> {
         Ok(bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_analog_read_calibrated(
                 self.port.internal_expander_index(),
@@ -66,7 +85,18 @@ impl AdiAnalogIn {
         }))
     }
 
-    /// Reads the calibrated value of an analog input channel 1-8 with enhanced precision.
+    /// Reads the calibrated volt of an analog input channel.
+    ///
+    /// The calibrate function must be run first on that channel.
+    ///
+    /// This function is inappropriate for sensor values intended for integration,
+    /// as round-off error can accumulate causing drift over time.
+    /// Use [`Self::calibrated_voltage_hr`] instead.
+    pub fn calibrated_voltage(&self) -> Result<f64, AdiError> {
+        Ok(self.calibrated_value()? as f64 / 4095.0 * 5.0)
+    }
+
+    /// Reads the calibrated value of an analog input channel with enhanced precision.
     ///
     /// The calibrate function must be run first.
     ///
@@ -74,13 +104,13 @@ impl AdiAnalogIn {
     /// to reduce drift due to round-off, and should not be used on a sensor such as a
     /// line tracker or potentiometer.
     ///
-    /// The value returned actually has 16 bits of “precision”,
+    /// The value returned actually has 16 bits of "precision",
     /// even though the ADC only reads 12 bits,
     /// so that errors induced by the average value being
     /// between two values come out in the wash when integrated over time.
     ///
     /// Think of the value as the true value times 16.
-    pub fn value_calibrated_hr(&self) -> Result<i32, AdiError> {
+    pub fn calibrated_value_hr(&self) -> Result<i32, AdiError> {
         Ok(bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_analog_read_calibrated_HR(
                 self.port.internal_expander_index(),
@@ -88,6 +118,26 @@ impl AdiAnalogIn {
             )
         }))
     }
+
+    /// Reads the calibrated voltage of an analog input channel with enhanced precision.
+    ///
+    /// The calibrate function must be run first.
+    ///
+    /// # Use
+    ///
+    /// This is intended for integrated sensor values such as gyros and accelerometers
+    /// to reduce drift due to round-off, and should not be used on a sensor such as a
+    /// line tracker or potentiometer.
+    ///
+    /// The value returned actually has 16 bits of "precision",
+    /// even though the ADC only reads 12 bits,
+    /// so that errors induced by the average value being
+    /// between two values come out in the wash when integrated over time.
+    ///
+    /// Think of the value as the true value times 16.
+    pub fn calibrated_voltage_hr(&self) -> Result<f64, AdiError> {
+        Ok(self.calibrated_value_hr()? as f64 / 4095.0 * 5.0)
+    }
 }
 
 impl AdiDevice for AdiAnalogIn {
@@ -106,8 +156,8 @@ impl AdiDevice for AdiAnalogIn {
     }
 }
 
-#[derive(Debug, Eq, PartialEq)]
 /// Generic analog output ADI device.
+#[derive(Debug, Eq, PartialEq)]
 pub struct AdiAnalogOut {
     port: AdiPort,
 }
@@ -119,13 +169,21 @@ impl AdiAnalogOut {
     }
 
     /// Sets the output for the Analog Output from 0 (0V) to 4095 (5V).
-    pub fn set_value(&mut self, value: i32) -> Result<i32, AdiError> {
-        Ok(unsafe {
-            bail_on! {
-                PROS_ERR,
-                pros_sys::ext_adi_port_set_value(self.port.internal_expander_index(), self.port.index(), value)
-            }
-        })
+    pub fn set_value(&mut self, value: i32) -> Result<(), AdiError> {
+        bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_port_set_value(
+                self.port.internal_expander_index(),
+                self.port.index(),
+                value,
+            )
+        });
+
+        Ok(())
+    }
+
+    /// Sets the output for the Analog Output from 0V to (5V).
+    pub fn set_voltage(&mut self, value: f64) -> Result<(), AdiError> {
+        self.set_value((value / 5.0 * 4095.0) as i32)
     }
 }
 
diff --git a/packages/pros/src/devices/adi/digital.rs b/packages/pros/src/devices/adi/digital.rs
index d959079f..d52f5932 100644
--- a/packages/pros/src/devices/adi/digital.rs
+++ b/packages/pros/src/devices/adi/digital.rs
@@ -25,7 +25,7 @@ pub enum LogicLevel {
 
 impl LogicLevel {
     /// Returns `true` if the level is [`High`].
-    pub fn is_high(&self) -> bool {
+    pub const fn is_high(&self) -> bool {
         match self {
             Self::High => true,
             Self::Low => false,
@@ -33,7 +33,7 @@ impl LogicLevel {
     }
 
     /// Returns `true` if the level is [`Low`].
-    pub fn is_low(&self) -> bool {
+    pub const fn is_low(&self) -> bool {
         !self.is_high()
     }
 }
@@ -103,7 +103,6 @@ impl AdiDevice for AdiDigitalIn {
 
 /// Generic digital output ADI device.
 #[derive(Debug, Eq, PartialEq)]
-/// Generic digital output ADI device.
 pub struct AdiDigitalOut {
     port: AdiPort,
 }
diff --git a/packages/pros/src/devices/adi/encoder.rs b/packages/pros/src/devices/adi/encoder.rs
index e4752532..e9f0816a 100644
--- a/packages/pros/src/devices/adi/encoder.rs
+++ b/packages/pros/src/devices/adi/encoder.rs
@@ -5,9 +5,9 @@ use pros_sys::{ext_adi_encoder_t, PROS_ERR};
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
 use crate::error::bail_on;
 
-#[derive(Debug, Eq, PartialEq)]
 /// ADI encoder device.
 /// Requires two adi ports.
+#[derive(Debug, Eq, PartialEq)]
 pub struct AdiEncoder {
     raw: ext_adi_encoder_t,
     port_top: AdiPort,
@@ -49,7 +49,7 @@ impl AdiEncoder {
     }
 
     /// Gets the number of ticks recorded by the encoder.
-    pub fn value(&self) -> Result<i32, AdiError> {
+    pub fn position(&self) -> Result<i32, AdiError> {
         Ok(bail_on!(PROS_ERR, unsafe {
             pros_sys::adi_encoder_get(self.raw)
         }))
diff --git a/packages/pros/src/devices/adi/gyro.rs b/packages/pros/src/devices/adi/gyro.rs
index bc48caa7..9ef00108 100644
--- a/packages/pros/src/devices/adi/gyro.rs
+++ b/packages/pros/src/devices/adi/gyro.rs
@@ -1,12 +1,20 @@
 //! ADI gyro device.
 
+use core::time::Duration;
+
 use pros_sys::{ext_adi_gyro_t, PROS_ERR, PROS_ERR_F};
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
 use crate::error::bail_on;
 
-#[derive(Debug, Eq, PartialEq)]
+/// The time it takes to calibrate an [`AdiGyro`].
+///
+/// The theoretical calibration time is 1024ms, but in practice this seemed to be the
+/// actual time that it takes.
+pub const GYRO_CALIBRATION_TIME: Duration = Duration::from_millis(1300);
+
 /// ADI gyro device.
+#[derive(Debug, Eq, PartialEq)]
 pub struct AdiGyro {
     raw: ext_adi_gyro_t,
     port: AdiPort,
@@ -14,6 +22,9 @@ pub struct AdiGyro {
 
 impl AdiGyro {
     /// Create a new gyro from an [`AdiPort`].
+    ///
+    /// If the given port has not previously been configured as a gyro, then this
+    /// function blocks for a 1300ms calibration period.
     pub fn new(port: AdiPort, multiplier: f64) -> Result<Self, AdiError> {
         let raw = bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_gyro_init(port.internal_expander_index(), port.index(), multiplier)
@@ -22,20 +33,17 @@ impl AdiGyro {
         Ok(Self { raw, port })
     }
 
-    /// Gets the current gyro angle in tenths of a degree. Unless a multiplier is applied to the gyro, the return value will be a whole number representing the number of degrees of rotation times 10.
+    /// Gets the yaw angle of the gyroscope in degrees.
     ///
-    /// There are 360 degrees in a circle, thus the gyro will return 3600 for one whole rotation.
-    pub fn value(&self) -> Result<f64, AdiError> {
-        Ok(bail_on!(PROS_ERR_F, unsafe {
-            pros_sys::ext_adi_gyro_get(self.raw)
-        }))
+    /// Unless a multiplier is applied to the gyro, the return value will be a whole
+    /// number representing the number of degrees of rotation.
+    pub fn angle(&self) -> Result<f64, AdiError> {
+        Ok(bail_on!(PROS_ERR_F, unsafe { pros_sys::ext_adi_gyro_get(self.raw) }) / 10.0)
     }
 
     /// Reset the current gyro angle to zero degrees.
     pub fn zero(&mut self) -> Result<(), AdiError> {
-        bail_on!(PROS_ERR, unsafe {
-            pros_sys::ext_adi_gyro_reset(self.raw)
-        });
+        bail_on!(PROS_ERR, unsafe { pros_sys::ext_adi_gyro_reset(self.raw) });
         Ok(())
     }
 }
diff --git a/packages/pros/src/devices/adi/linetracker.rs b/packages/pros/src/devices/adi/linetracker.rs
new file mode 100644
index 00000000..48ba2251
--- /dev/null
+++ b/packages/pros/src/devices/adi/linetracker.rs
@@ -0,0 +1,78 @@
+//! ADI Line Tracker
+//!
+//! Line trackers read the difference between a black line and a white surface. They can
+//! be used to follow a marked path on the ground.
+//!
+//! # Overview
+//!
+//! A line tracker consists of an analog infrared light sensor and an infrared LED.
+//! It works by illuminating a surface with infrared light; the sensor then picks up
+//! the reflected infrared radiation and, based on its intensity, determines the
+//! reflectivity of the surface in question. White surfaces will reflect more light
+//! than dark surfaces, resulting in their appearing brighter to the sensor. This
+//! allows the sensor to detect a dark line on a white background, or a white line on
+//! a dark background.
+//!
+//! # Hardware
+//!
+//! The Line Tracking Sensor is an analog sensor, and it internally measures values in the
+//! range of 0 to 4095 from 0-5V. Darker objects reflect less light, and are indicated by
+//! higher numbers. Lighter objects reflect more light, and are indicated by lower numbers.
+//!
+//! For best results when using the Line Tracking Sensors, it is best to mount the sensors
+//! between 1/8 and 1/4 of an inch away from the surface it is measuring. It is also important
+//! to keep lighting in the room consistent, so sensors' readings remain accurate.
+
+use pros_sys::PROS_ERR;
+
+use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
+use crate::error::bail_on;
+
+/// Analog line tracker device.
+#[derive(Debug, Eq, PartialEq)]
+pub struct AdiLineTracker {
+    port: AdiPort,
+}
+
+impl AdiLineTracker {
+    /// Create a line tracker on an ADI port.
+    pub const fn new(port: AdiPort) -> Self {
+        Self { port }
+    }
+
+    /// Get the reflectivity factor measured by the sensor.
+    ///
+    /// This is returned as a value ranging from [0.0, 1.0].
+    pub fn reflectivity(&self) -> Result<f64, AdiError> {
+        Ok(bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_analog_read(self.port.internal_expander_index(), self.port.index())
+        }) as f64
+            / 4095.0)
+    }
+
+    /// Get the raw reflectivity factor of the sensor.
+    ///
+    /// This is a raw 12-bit value from [0, 4095] representing the voltage level from
+    /// 0-5V measured by the V5 brain's ADC.
+    pub fn raw_reflectivity(&self) -> Result<i32, AdiError> {
+        Ok(bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_analog_read(self.port.internal_expander_index(), self.port.index())
+        }))
+    }
+}
+
+impl AdiDevice for AdiLineTracker {
+    type PortIndexOutput = u8;
+
+    fn port_index(&self) -> Self::PortIndexOutput {
+        self.port.index()
+    }
+
+    fn expander_port_index(&self) -> Option<u8> {
+        self.port.expander_index()
+    }
+
+    fn device_type(&self) -> AdiDeviceType {
+        AdiDeviceType::AnalogIn
+    }
+}
diff --git a/packages/pros/src/devices/adi/mod.rs b/packages/pros/src/devices/adi/mod.rs
index d6fc8f11..5c845b1f 100644
--- a/packages/pros/src/devices/adi/mod.rs
+++ b/packages/pros/src/devices/adi/mod.rs
@@ -11,16 +11,18 @@ pub mod digital;
 
 pub mod encoder;
 pub mod gyro;
+pub mod linetracker;
 pub mod motor;
 pub mod potentiometer;
 pub mod solenoid;
-pub mod ultrasonic;
 pub mod switch;
+pub mod ultrasonic;
 
-pub use analog::{AdiAnalogIn, AdiAnalogOut};
+pub use analog::AdiAnalogIn;
 pub use digital::{AdiDigitalIn, AdiDigitalOut};
 pub use encoder::AdiEncoder;
 pub use gyro::AdiGyro;
+pub use linetracker::AdiLineTracker;
 pub use motor::AdiMotor;
 pub use potentiometer::AdiPotentiometer;
 pub use solenoid::AdiSolenoid;
@@ -116,17 +118,15 @@ pub enum AdiDeviceType {
     /// Generic digital output.
     DigitalOut = pros_sys::adi::E_ADI_DIGITAL_OUT,
 
-    /// Cortex era gyro.
+    /// Cortex-era gyro.
     LegacyGyro = pros_sys::adi::E_ADI_LEGACY_GYRO,
-
-    /// Cortex era servo motor.
+    /// Cortex-era servo motor.
     LegacyServo = pros_sys::adi::E_ADI_LEGACY_SERVO,
     /// PWM output.
     LegacyPwm = pros_sys::adi::E_ADI_LEGACY_PWM,
-
-    /// Cortex era encoder.
+    /// Cortex-era encoder.
     LegacyEncoder = pros_sys::E_ADI_LEGACY_ENCODER,
-    /// Cortex era ultrasonic sensor.
+    /// Cortex-era ultrasonic sensor.
     LegacyUltrasonic = pros_sys::E_ADI_LEGACY_ULTRASONIC,
 }
 
diff --git a/packages/pros/src/devices/adi/motor.rs b/packages/pros/src/devices/adi/motor.rs
index bdb52490..9eb20fd8 100644
--- a/packages/pros/src/devices/adi/motor.rs
+++ b/packages/pros/src/devices/adi/motor.rs
@@ -17,8 +17,13 @@ impl AdiMotor {
         Self { port }
     }
 
+    /// Sets the PWM output of the given motor as an f32 from [-1.0, 1.0].
+    pub fn set_output(&mut self, value: f32) -> Result<(), AdiError> {
+        self.set_raw_output((value * 127.0) as i8)
+    }
+
     /// Sets the PWM output of the given motor as an i8 from [-127, 127].
-    pub fn set_value(&mut self, value: i8) -> Result<(), AdiError> {
+    pub fn set_raw_output(&mut self, value: i8) -> Result<(), AdiError> {
         bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_motor_set(
                 self.port.internal_expander_index(),
@@ -26,14 +31,20 @@ impl AdiMotor {
                 value,
             )
         });
+
         Ok(())
     }
 
-    /// Returns the last set PWM output of the motor on the given port.
-    pub fn value(&self) -> Result<i32, AdiError> {
+    /// Returns the last set PWM output of the motor on the given port as an f32 from [-1.0, 1.0].
+    pub fn output(&self) -> Result<f32, AdiError> {
+        Ok(self.raw_output()? as f32 / 127.0)
+    }
+
+    /// Returns the last set PWM output of the motor on the given port as an i8 from [-127, 127].
+    pub fn raw_output(&self) -> Result<i8, AdiError> {
         Ok(bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_motor_get(self.port.internal_expander_index(), self.port.index())
-        }))
+        }) as i8)
     }
 
     /// Stops the given motor.
diff --git a/packages/pros/src/devices/adi/potentiometer.rs b/packages/pros/src/devices/adi/potentiometer.rs
index 8cc66a7a..433d1677 100644
--- a/packages/pros/src/devices/adi/potentiometer.rs
+++ b/packages/pros/src/devices/adi/potentiometer.rs
@@ -36,7 +36,7 @@ impl AdiPotentiometer {
         self.potentiometer_type
     }
 
-    /// Gets the current potentiometer angle in tenths of a degree.
+    /// Gets the current potentiometer angle in degrees.
     ///
     /// The original potentiometer rotates 250 degrees
     /// thus returning an angle between 0-250 degrees.
@@ -45,7 +45,7 @@ impl AdiPotentiometer {
     pub fn angle(&self) -> Result<f64, AdiError> {
         Ok(bail_on!(PROS_ERR_F, unsafe {
             pros_sys::ext_adi_potentiometer_get_angle(self.raw)
-        }))
+        }) / 10.0)
     }
 }
 
diff --git a/packages/pros/src/devices/adi/solenoid.rs b/packages/pros/src/devices/adi/solenoid.rs
index de969f65..32b21b61 100644
--- a/packages/pros/src/devices/adi/solenoid.rs
+++ b/packages/pros/src/devices/adi/solenoid.rs
@@ -14,8 +14,11 @@ pub struct AdiSolenoid {
 
 impl AdiSolenoid {
     /// Create an AdiSolenoid.
-    pub fn new(port: AdiPort) -> Self {
-        Self { port, level: LogicLevel::Low }
+    pub const fn new(port: AdiPort) -> Self {
+        Self {
+            port,
+            level: LogicLevel::Low,
+        }
     }
 
     /// Sets the digital logic level of the solenoid. [`LogicLevel::Low`] will close the solenoid,
@@ -35,17 +38,17 @@ impl AdiSolenoid {
     }
 
     /// Returns the current [`LogicLevel`] of the solenoid's digital output state.
-    pub fn level(&self) -> LogicLevel {
+    pub  const fn level(&self) -> LogicLevel {
         self.level
     }
 
     /// Returns `true` if the solenoid is open.
-    pub fn is_open(&self) -> LogicLevel {
+    pub  const fn is_open(&self) -> LogicLevel {
         self.level
     }
 
     /// Returns `true` if the solenoid is closed.
-    pub fn is_closed(&self) -> LogicLevel {
+    pub const fn is_closed(&self) -> LogicLevel {
         self.level
     }
 
diff --git a/packages/pros/src/devices/adi/switch.rs b/packages/pros/src/devices/adi/switch.rs
index c5101ff1..5de703a4 100644
--- a/packages/pros/src/devices/adi/switch.rs
+++ b/packages/pros/src/devices/adi/switch.rs
@@ -2,7 +2,7 @@
 
 use pros_sys::PROS_ERR;
 
-use super::{AdiDevice, AdiDeviceType, AdiDigitalIn, AdiError, AdiPort, digital::LogicLevel};
+use super::{digital::LogicLevel, AdiDevice, AdiDeviceType, AdiDigitalIn, AdiError, AdiPort};
 use crate::error::bail_on;
 
 /// Generic digital input ADI device.
@@ -32,9 +32,9 @@ impl AdiSwitch {
     /// Returrns `true` if the switch is currently being pressed.
     ///
     /// This is equivalent shorthand to calling `Self::level().is_high()`.
-	pub fn is_pressed(&self) -> Result<bool, AdiError> {
-		Ok(self.level()?.is_high())
-	}
+    pub fn is_pressed(&self) -> Result<bool, AdiError> {
+        Ok(self.level()?.is_high())
+    }
 
     /// Returns `true` if the switch has been pressed again since the last time this
     /// function was called.
@@ -50,10 +50,13 @@ impl AdiSwitch {
     /// use-case for this function is to call inside opcontrol to detect new button
     /// presses, and not in any other tasks.
     pub fn was_pressed(&mut self) -> Result<bool, AdiError> {
-		Ok(bail_on!(PROS_ERR, unsafe {
-            pros_sys::ext_adi_digital_get_new_press(self.port.internal_expander_index(), self.port.index())
+        Ok(bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_digital_get_new_press(
+                self.port.internal_expander_index(),
+                self.port.index(),
+            )
         }) != 0)
-	}
+    }
 }
 
 impl From<AdiDigitalIn> for AdiSwitch {
diff --git a/packages/pros/src/devices/adi/ultrasonic.rs b/packages/pros/src/devices/adi/ultrasonic.rs
index d85cb54c..a0a0b3b4 100644
--- a/packages/pros/src/devices/adi/ultrasonic.rs
+++ b/packages/pros/src/devices/adi/ultrasonic.rs
@@ -39,10 +39,19 @@ impl AdiUltrasonic {
         })
     }
 
-    /// Get the distance of a surface to the ultrasonic sensor's mounting point in centimeters.
+    /// Get the distance of a surface to the ultrasonic sensor's mounting point
+    /// in millimeters.
     ///
-    /// Round and fluffy objects can cause inaccurate values to be returned.
-    pub fn distance(&self) -> Result<i32, AdiError> {
+    /// Round and/or fluffy objects can cause inaccurate values to be returned.
+    pub fn distance(&self) -> Result<f64, AdiError> {
+        Ok(self.raw_distance()? as f64 / 10.0)
+    }
+
+    /// Get the raw distance reading of the ultrasonic sensor. This value is returned
+    /// in 10^-4 * meters, or ten-thousanths of a meter.
+    ///
+    /// Round and/or fluffy objects can cause inaccurate values to be returned.
+    pub fn raw_distance(&self) -> Result<i32, AdiError> {
         Ok(bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_ultrasonic_get(self.raw)
         }))
diff --git a/packages/pros/src/lib.rs b/packages/pros/src/lib.rs
index 3d9b0f10..44fafeb5 100644
--- a/packages/pros/src/lib.rs
+++ b/packages/pros/src/lib.rs
@@ -377,7 +377,7 @@ pub mod prelude {
         color::Rgb,
         devices::{
             adi::{
-                analog::{AdiAnalogIn, AdiAnalogOut},
+                analog::AdiAnalogIn,
                 digital::{AdiDigitalIn, AdiDigitalOut},
                 encoder::AdiEncoder,
                 gyro::AdiGyro,

From e82cf122fa7bec7bfcfacc66ff8d192068a82360 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Sun, 11 Feb 2024 20:51:22 -0600
Subject: [PATCH 28/96] chore: remove smart-leds-trait

---
 packages/pros/Cargo.toml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/packages/pros/Cargo.toml b/packages/pros/Cargo.toml
index 63fcd1fa..702142b2 100644
--- a/packages/pros/Cargo.toml
+++ b/packages/pros/Cargo.toml
@@ -29,7 +29,6 @@ no_std_io = { version = "0.6.0", features = ["alloc"] }
 futures = { version = "0.3.28", default-features = false, features = ["alloc"] }
 async-task = { version = "4.5.0", default-features = false }
 waker-fn = "1.1.1"
-smart-leds-trait = { version = "0.3.0", optional = true }
 
 [target.'cfg(target_arch = "wasm32")'.dependencies]
 dlmalloc = { version = "0.2.4", features = ["global"] }

From 000b6df258f21fe5f09da15d1bb4ac3e808fe969 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Sun, 11 Feb 2024 21:10:55 -0600
Subject: [PATCH 29/96] chore: fmt

---
 packages/pros/src/devices/adi/analog.rs   | 41 ++++++-----------------
 packages/pros/src/devices/adi/solenoid.rs |  4 +--
 2 files changed, 12 insertions(+), 33 deletions(-)

diff --git a/packages/pros/src/devices/adi/analog.rs b/packages/pros/src/devices/adi/analog.rs
index a5ceec3c..97454195 100644
--- a/packages/pros/src/devices/adi/analog.rs
+++ b/packages/pros/src/devices/adi/analog.rs
@@ -61,6 +61,11 @@ impl AdiAnalogIn {
 
     /// Reads an analog input channel and returns the calculated voltage input (0-5V).
     ///
+    /// # Precision
+    ///
+    /// This function has a precision of `5.0/4095.0` volts, as ADC reports 12-bit voltage data
+    /// on a scale of 0-4095.
+    ///
     /// # Sensor Compatibility
     ///
     /// The value returned is undefined if the analog pin has been switched to a different mode.
@@ -85,17 +90,6 @@ impl AdiAnalogIn {
         }))
     }
 
-    /// Reads the calibrated volt of an analog input channel.
-    ///
-    /// The calibrate function must be run first on that channel.
-    ///
-    /// This function is inappropriate for sensor values intended for integration,
-    /// as round-off error can accumulate causing drift over time.
-    /// Use [`Self::calibrated_voltage_hr`] instead.
-    pub fn calibrated_voltage(&self) -> Result<f64, AdiError> {
-        Ok(self.calibrated_value()? as f64 / 4095.0 * 5.0)
-    }
-
     /// Reads the calibrated value of an analog input channel with enhanced precision.
     ///
     /// The calibrate function must be run first.
@@ -118,26 +112,6 @@ impl AdiAnalogIn {
             )
         }))
     }
-
-    /// Reads the calibrated voltage of an analog input channel with enhanced precision.
-    ///
-    /// The calibrate function must be run first.
-    ///
-    /// # Use
-    ///
-    /// This is intended for integrated sensor values such as gyros and accelerometers
-    /// to reduce drift due to round-off, and should not be used on a sensor such as a
-    /// line tracker or potentiometer.
-    ///
-    /// The value returned actually has 16 bits of "precision",
-    /// even though the ADC only reads 12 bits,
-    /// so that errors induced by the average value being
-    /// between two values come out in the wash when integrated over time.
-    ///
-    /// Think of the value as the true value times 16.
-    pub fn calibrated_voltage_hr(&self) -> Result<f64, AdiError> {
-        Ok(self.calibrated_value_hr()? as f64 / 4095.0 * 5.0)
-    }
 }
 
 impl AdiDevice for AdiAnalogIn {
@@ -182,6 +156,11 @@ impl AdiAnalogOut {
     }
 
     /// Sets the output for the Analog Output from 0V to (5V).
+    ///
+    /// # Precision
+    ///
+    /// This function has a precision of `5.0/4095.0` volts, as ADC reports 12-bit voltage data
+    /// on a scale of 0-4095.
     pub fn set_voltage(&mut self, value: f64) -> Result<(), AdiError> {
         self.set_value((value / 5.0 * 4095.0) as i32)
     }
diff --git a/packages/pros/src/devices/adi/solenoid.rs b/packages/pros/src/devices/adi/solenoid.rs
index 32b21b61..1447aa63 100644
--- a/packages/pros/src/devices/adi/solenoid.rs
+++ b/packages/pros/src/devices/adi/solenoid.rs
@@ -38,12 +38,12 @@ impl AdiSolenoid {
     }
 
     /// Returns the current [`LogicLevel`] of the solenoid's digital output state.
-    pub  const fn level(&self) -> LogicLevel {
+    pub const fn level(&self) -> LogicLevel {
         self.level
     }
 
     /// Returns `true` if the solenoid is open.
-    pub  const fn is_open(&self) -> LogicLevel {
+    pub const fn is_open(&self) -> LogicLevel {
         self.level
     }
 

From e2197445bbf9d6236507b159e7172344678a31a9 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Sun, 11 Feb 2024 21:25:06 -0600
Subject: [PATCH 30/96] refactor: `is_low`

---
 packages/pros/src/devices/adi/digital.rs | 5 ++++-
 packages/pros/src/devices/adi/gyro.rs    | 1 +
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/packages/pros/src/devices/adi/digital.rs b/packages/pros/src/devices/adi/digital.rs
index d52f5932..4d36630c 100644
--- a/packages/pros/src/devices/adi/digital.rs
+++ b/packages/pros/src/devices/adi/digital.rs
@@ -34,7 +34,10 @@ impl LogicLevel {
 
     /// Returns `true` if the level is [`Low`].
     pub const fn is_low(&self) -> bool {
-        !self.is_high()
+        match self {
+            Self::High => false,
+            Self::Low => true,
+        }
     }
 }
 
diff --git a/packages/pros/src/devices/adi/gyro.rs b/packages/pros/src/devices/adi/gyro.rs
index 586c4ad7..9ef00108 100644
--- a/packages/pros/src/devices/adi/gyro.rs
+++ b/packages/pros/src/devices/adi/gyro.rs
@@ -1,6 +1,7 @@
 //! ADI gyro device.
 
 use core::time::Duration;
+
 use pros_sys::{ext_adi_gyro_t, PROS_ERR, PROS_ERR_F};
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};

From f250621ff52aadfc2d8e07befa142d8bfc4e3c5f Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Sun, 11 Feb 2024 21:49:21 -0600
Subject: [PATCH 31/96] refactor: use u16 for analog return data

---
 packages/pros/src/devices/adi/analog.rs      | 18 +++++++++---------
 packages/pros/src/devices/adi/linetracker.rs |  4 ++--
 packages/pros/src/devices/adi/ultrasonic.rs  | 15 +++------------
 3 files changed, 14 insertions(+), 23 deletions(-)

diff --git a/packages/pros/src/devices/adi/analog.rs b/packages/pros/src/devices/adi/analog.rs
index 97454195..3dd67f33 100644
--- a/packages/pros/src/devices/adi/analog.rs
+++ b/packages/pros/src/devices/adi/analog.rs
@@ -53,10 +53,10 @@ impl AdiAnalogIn {
     ///
     /// The value returned is undefined if the analog pin has been switched to a different mode.
     /// The meaning of the returned value varies depending on the sensor attached.
-    pub fn value(&self) -> Result<i32, AdiError> {
+    pub fn value(&self) -> Result<u16, AdiError> {
         Ok(bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_analog_read(self.port.internal_expander_index(), self.port.index())
-        }))
+        }) as u16)
     }
 
     /// Reads an analog input channel and returns the calculated voltage input (0-5V).
@@ -81,13 +81,13 @@ impl AdiAnalogIn {
     /// This function is inappropriate for sensor values intended for integration,
     /// as round-off error can accumulate causing drift over time.
     /// Use [`Self::calibrated_value_hr`] instead.
-    pub fn calibrated_value(&self) -> Result<i32, AdiError> {
+    pub fn calibrated_value(&self) -> Result<u16, AdiError> {
         Ok(bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_analog_read_calibrated(
                 self.port.internal_expander_index(),
                 self.port.index(),
             )
-        }))
+        }) as u16)
     }
 
     /// Reads the calibrated value of an analog input channel with enhanced precision.
@@ -104,13 +104,13 @@ impl AdiAnalogIn {
     /// between two values come out in the wash when integrated over time.
     ///
     /// Think of the value as the true value times 16.
-    pub fn calibrated_value_hr(&self) -> Result<i32, AdiError> {
+    pub fn calibrated_value_hr(&self) -> Result<i16, AdiError> {
         Ok(bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_analog_read_calibrated_HR(
                 self.port.internal_expander_index(),
                 self.port.index(),
             )
-        }))
+        }) as i16)
     }
 }
 
@@ -143,12 +143,12 @@ impl AdiAnalogOut {
     }
 
     /// Sets the output for the Analog Output from 0 (0V) to 4095 (5V).
-    pub fn set_value(&mut self, value: i32) -> Result<(), AdiError> {
+    pub fn set_value(&mut self, value: u16) -> Result<(), AdiError> {
         bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_port_set_value(
                 self.port.internal_expander_index(),
                 self.port.index(),
-                value,
+                value as i32,
             )
         });
 
@@ -162,7 +162,7 @@ impl AdiAnalogOut {
     /// This function has a precision of `5.0/4095.0` volts, as ADC reports 12-bit voltage data
     /// on a scale of 0-4095.
     pub fn set_voltage(&mut self, value: f64) -> Result<(), AdiError> {
-        self.set_value((value / 5.0 * 4095.0) as i32)
+        self.set_value((value / 5.0 * 4095.0) as u16)
     }
 }
 
diff --git a/packages/pros/src/devices/adi/linetracker.rs b/packages/pros/src/devices/adi/linetracker.rs
index 48ba2251..4ba4b884 100644
--- a/packages/pros/src/devices/adi/linetracker.rs
+++ b/packages/pros/src/devices/adi/linetracker.rs
@@ -54,10 +54,10 @@ impl AdiLineTracker {
     ///
     /// This is a raw 12-bit value from [0, 4095] representing the voltage level from
     /// 0-5V measured by the V5 brain's ADC.
-    pub fn raw_reflectivity(&self) -> Result<i32, AdiError> {
+    pub fn raw_reflectivity(&self) -> Result<u16, AdiError> {
         Ok(bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_analog_read(self.port.internal_expander_index(), self.port.index())
-        }))
+        }) as u16)
     }
 }
 
diff --git a/packages/pros/src/devices/adi/ultrasonic.rs b/packages/pros/src/devices/adi/ultrasonic.rs
index a0a0b3b4..f8710cfb 100644
--- a/packages/pros/src/devices/adi/ultrasonic.rs
+++ b/packages/pros/src/devices/adi/ultrasonic.rs
@@ -39,22 +39,13 @@ impl AdiUltrasonic {
         })
     }
 
-    /// Get the distance of a surface to the ultrasonic sensor's mounting point
-    /// in millimeters.
+    /// Get the distance reading of the ultrasonic sensor in centimeters.
     ///
     /// Round and/or fluffy objects can cause inaccurate values to be returned.
-    pub fn distance(&self) -> Result<f64, AdiError> {
-        Ok(self.raw_distance()? as f64 / 10.0)
-    }
-
-    /// Get the raw distance reading of the ultrasonic sensor. This value is returned
-    /// in 10^-4 * meters, or ten-thousanths of a meter.
-    ///
-    /// Round and/or fluffy objects can cause inaccurate values to be returned.
-    pub fn raw_distance(&self) -> Result<i32, AdiError> {
+    pub fn distance(&self) -> Result<u16, AdiError> {
         Ok(bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_ultrasonic_get(self.raw)
-        }))
+        }) as u16)
     }
 }
 

From 3fbeae5e5f853cc5af22c2f1b03763a875248b7f Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Sun, 11 Feb 2024 21:59:08 -0600
Subject: [PATCH 32/96] fix: return `calibrated_value` as an i16

---
 packages/pros/src/devices/adi/analog.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/packages/pros/src/devices/adi/analog.rs b/packages/pros/src/devices/adi/analog.rs
index 3dd67f33..e2318748 100644
--- a/packages/pros/src/devices/adi/analog.rs
+++ b/packages/pros/src/devices/adi/analog.rs
@@ -81,13 +81,13 @@ impl AdiAnalogIn {
     /// This function is inappropriate for sensor values intended for integration,
     /// as round-off error can accumulate causing drift over time.
     /// Use [`Self::calibrated_value_hr`] instead.
-    pub fn calibrated_value(&self) -> Result<u16, AdiError> {
+    pub fn calibrated_value(&self) -> Result<i16, AdiError> {
         Ok(bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_analog_read_calibrated(
                 self.port.internal_expander_index(),
                 self.port.index(),
             )
-        }) as u16)
+        }) as i16)
     }
 
     /// Reads the calibrated value of an analog input channel with enhanced precision.

From ec23d6e1bf4747c9aa95763728151d833bac6d12 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Sun, 11 Feb 2024 22:35:55 -0600
Subject: [PATCH 33/96] Update CHANGELOG.md

---
 CHANGELOG.md | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index f7e7b45f..09229dce 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -28,6 +28,9 @@ Before releasing:
 
 - 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.
 
 ### Fixed
 
@@ -42,6 +45,15 @@ Before releasing:
 - 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).
 
 ### Removed
 
@@ -50,6 +62,7 @@ Before releasing:
 - 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]
 

From 4f219ef6ccbd1269c6963ea2a5e0e42751ec75a8 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Sun, 11 Feb 2024 22:38:45 -0600
Subject: [PATCH 34/96] refactor: rename `calibrated_value_hr` to
 `high_precision_calibrated_value`

---
 packages/pros/src/devices/adi/analog.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/packages/pros/src/devices/adi/analog.rs b/packages/pros/src/devices/adi/analog.rs
index e2318748..5db2a8f2 100644
--- a/packages/pros/src/devices/adi/analog.rs
+++ b/packages/pros/src/devices/adi/analog.rs
@@ -104,7 +104,7 @@ impl AdiAnalogIn {
     /// between two values come out in the wash when integrated over time.
     ///
     /// Think of the value as the true value times 16.
-    pub fn calibrated_value_hr(&self) -> Result<i16, AdiError> {
+    pub fn high_precision_calibrated_value(&self) -> Result<i16, AdiError> {
         Ok(bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_analog_read_calibrated_HR(
                 self.port.internal_expander_index(),

From 5a5da880f1f326e03de7e53bd670ff68888f2108 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Sun, 11 Feb 2024 23:38:56 -0600
Subject: [PATCH 35/96] fix: docs, AnalogOut prelude

---
 packages/pros/src/devices/adi/analog.rs | 2 +-
 packages/pros/src/lib.rs                | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/packages/pros/src/devices/adi/analog.rs b/packages/pros/src/devices/adi/analog.rs
index 5db2a8f2..61ef4428 100644
--- a/packages/pros/src/devices/adi/analog.rs
+++ b/packages/pros/src/devices/adi/analog.rs
@@ -80,7 +80,7 @@ impl AdiAnalogIn {
     ///
     /// This function is inappropriate for sensor values intended for integration,
     /// as round-off error can accumulate causing drift over time.
-    /// Use [`Self::calibrated_value_hr`] instead.
+    /// Use [`Self::high_precision_calibrated_value`] instead.
     pub fn calibrated_value(&self) -> Result<i16, AdiError> {
         Ok(bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_analog_read_calibrated(
diff --git a/packages/pros/src/lib.rs b/packages/pros/src/lib.rs
index 110ad6d3..53f1c306 100644
--- a/packages/pros/src/lib.rs
+++ b/packages/pros/src/lib.rs
@@ -377,7 +377,7 @@ pub mod prelude {
         color::Rgb,
         devices::{
             adi::{
-                analog::AdiAnalogIn,
+                analog::{AdiAnalogIn, AdiAnalogOut},
                 digital::{AdiDigitalIn, AdiDigitalOut},
                 encoder::AdiEncoder,
                 gyro::AdiGyro,

From d223905e3bb9f9a072c689e4c47466a01513d881 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Sun, 11 Feb 2024 23:41:15 -0600
Subject: [PATCH 36/96] docs: add missing docs for adi ports

---
 packages/pros/src/devices/smart/expander.rs | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/packages/pros/src/devices/smart/expander.rs b/packages/pros/src/devices/smart/expander.rs
index 105e16d1..8fc3f8c6 100644
--- a/packages/pros/src/devices/smart/expander.rs
+++ b/packages/pros/src/devices/smart/expander.rs
@@ -10,14 +10,23 @@ use crate::devices::adi::AdiPort;
 /// be partially moved out of this struct to create devices.
 #[derive(Debug, Eq, PartialEq)]
 pub struct AdiExpander {
+    /// ADI port A on the expander.
     pub adi_a: AdiPort,
+    /// ADI port B on the expander.
     pub adi_b: AdiPort,
+    /// ADI Port C on the expander.
     pub adi_c: AdiPort,
+    /// ADI Port D on the expander.
     pub adi_d: AdiPort,
+    /// ADI Port E on the expander.
     pub adi_e: AdiPort,
+    /// ADI Port F on the expander.
     pub adi_f: AdiPort,
+    /// ADI Port G on the expander.
     pub adi_g: AdiPort,
+    /// ADI Port H on the expander.
     pub adi_h: AdiPort,
+
     port: SmartPort,
 }
 

From 5fdf09206d33828ec32db5ed32f8fe8de5f0be73 Mon Sep 17 00:00:00 2001
From: Gavin <94215019+Gavin-Niederman@users.noreply.github.com>
Date: Sun, 11 Feb 2024 22:12:22 -0800
Subject: [PATCH 37/96] docs: add ADI expander module docs

---
 packages/pros/src/devices/smart/expander.rs | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/packages/pros/src/devices/smart/expander.rs b/packages/pros/src/devices/smart/expander.rs
index 8fc3f8c6..d794a5f7 100644
--- a/packages/pros/src/devices/smart/expander.rs
+++ b/packages/pros/src/devices/smart/expander.rs
@@ -1,3 +1,9 @@
+//! ADI expander module support. 
+//!
+//! The ADI expander API is similar to that of [`Peripherals`].
+//! A main difference between the two is that ADI expanders can be created safely without returning an option.
+//! This is because they require a [`SmartPort`] to be created which can only be created without either peripherals struct unsafely.
+
 use super::{SmartDevice, SmartDeviceType, SmartPort};
 use crate::devices::adi::AdiPort;
 

From 17aac44fa737d66560aa328997d1322def4c3037 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Mon, 12 Feb 2024 06:18:31 -0800
Subject: [PATCH 38/96] chore: format

---
 packages/pros/src/devices/smart/expander.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/packages/pros/src/devices/smart/expander.rs b/packages/pros/src/devices/smart/expander.rs
index d794a5f7..3ea2ef3a 100644
--- a/packages/pros/src/devices/smart/expander.rs
+++ b/packages/pros/src/devices/smart/expander.rs
@@ -1,4 +1,4 @@
-//! ADI expander module support. 
+//! ADI expander module support.
 //!
 //! The ADI expander API is similar to that of [`Peripherals`].
 //! A main difference between the two is that ADI expanders can be created safely without returning an option.

From fa53d848409f10bacd46f5a1914332edb9c97dbf Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Mon, 12 Feb 2024 15:47:31 -0600
Subject: [PATCH 39/96] refactor: fix config setters, actually wrap base
 devices

---
 packages/pros/src/devices/adi/analog.rs      | 66 ++++----------------
 packages/pros/src/devices/adi/digital.rs     | 24 +++++--
 packages/pros/src/devices/adi/gyro.rs        |  2 +-
 packages/pros/src/devices/adi/linetracker.rs | 26 +++-----
 packages/pros/src/devices/adi/mod.rs         | 13 +++-
 packages/pros/src/devices/adi/motor.rs       |  2 +-
 packages/pros/src/devices/adi/pwm.rs         | 58 +++++++++++++++++
 packages/pros/src/devices/adi/solenoid.rs    | 42 +++++--------
 packages/pros/src/devices/adi/switch.rs      | 36 +++++------
 packages/pros/src/lib.rs                     |  3 +-
 10 files changed, 146 insertions(+), 126 deletions(-)
 create mode 100644 packages/pros/src/devices/adi/pwm.rs

diff --git a/packages/pros/src/devices/adi/analog.rs b/packages/pros/src/devices/adi/analog.rs
index 61ef4428..3107dd8b 100644
--- a/packages/pros/src/devices/adi/analog.rs
+++ b/packages/pros/src/devices/adi/analog.rs
@@ -1,4 +1,4 @@
-//! Analog input and output ADI devices.
+//! ADI Analog Interfaces
 //!
 //! # Overview
 //!
@@ -21,8 +21,16 @@ pub struct AdiAnalogIn {
 
 impl AdiAnalogIn {
     /// Create a analog input from an ADI port.
-    pub const fn new(port: AdiPort) -> Self {
-        Self { port }
+    pub fn new(port: AdiPort) -> Result<Self, AdiError> {
+        bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_port_set_config(
+                port.internal_expander_index(),
+                port.index(),
+                pros_sys::E_ADI_ANALOG_IN,
+            )
+        });
+
+        Ok(Self { port })
     }
 
     /// Calibrates the analog sensor on the specified channel.
@@ -129,55 +137,3 @@ impl AdiDevice for AdiAnalogIn {
         AdiDeviceType::AnalogIn
     }
 }
-
-/// Generic analog output ADI device.
-#[derive(Debug, Eq, PartialEq)]
-pub struct AdiAnalogOut {
-    port: AdiPort,
-}
-
-impl AdiAnalogOut {
-    /// Create a analog output from an [`AdiPort`].
-    pub const fn new(port: AdiPort) -> Self {
-        Self { port }
-    }
-
-    /// Sets the output for the Analog Output from 0 (0V) to 4095 (5V).
-    pub fn set_value(&mut self, value: u16) -> Result<(), AdiError> {
-        bail_on!(PROS_ERR, unsafe {
-            pros_sys::ext_adi_port_set_value(
-                self.port.internal_expander_index(),
-                self.port.index(),
-                value as i32,
-            )
-        });
-
-        Ok(())
-    }
-
-    /// Sets the output for the Analog Output from 0V to (5V).
-    ///
-    /// # Precision
-    ///
-    /// This function has a precision of `5.0/4095.0` volts, as ADC reports 12-bit voltage data
-    /// on a scale of 0-4095.
-    pub fn set_voltage(&mut self, value: f64) -> Result<(), AdiError> {
-        self.set_value((value / 5.0 * 4095.0) as u16)
-    }
-}
-
-impl AdiDevice for AdiAnalogOut {
-    type PortIndexOutput = u8;
-
-    fn port_index(&self) -> Self::PortIndexOutput {
-        self.port.index()
-    }
-
-    fn expander_port_index(&self) -> Option<u8> {
-        self.port.expander_index()
-    }
-
-    fn device_type(&self) -> AdiDeviceType {
-        AdiDeviceType::AnalogOut
-    }
-}
diff --git a/packages/pros/src/devices/adi/digital.rs b/packages/pros/src/devices/adi/digital.rs
index 4d36630c..e695a4ce 100644
--- a/packages/pros/src/devices/adi/digital.rs
+++ b/packages/pros/src/devices/adi/digital.rs
@@ -61,8 +61,16 @@ pub struct AdiDigitalIn {
 
 impl AdiDigitalIn {
     /// Create a digital input from an ADI port.
-    pub const fn new(port: AdiPort) -> Self {
-        Self { port }
+    pub fn new(port: AdiPort) -> Result<Self, AdiError> {
+        bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_port_set_config(
+                port.internal_expander_index(),
+                port.index(),
+                pros_sys::E_ADI_DIGITAL_IN,
+            )
+        });
+
+        Ok(Self { port })
     }
 
     /// Gets the current logic level of a digital input pin.
@@ -112,8 +120,16 @@ pub struct AdiDigitalOut {
 
 impl AdiDigitalOut {
     /// Create a digital output from an [`AdiPort`].
-    pub const fn new(port: AdiPort) -> Self {
-        Self { port }
+    pub fn new(port: AdiPort) -> Result<Self, AdiError> {
+        bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_port_set_config(
+                port.internal_expander_index(),
+                port.index(),
+                pros_sys::E_ADI_DIGITAL_OUT,
+            )
+        });
+
+        Ok(Self { port })
     }
 
     /// Sets the digital logic level (high or low) of a pin.
diff --git a/packages/pros/src/devices/adi/gyro.rs b/packages/pros/src/devices/adi/gyro.rs
index 9ef00108..02281f3b 100644
--- a/packages/pros/src/devices/adi/gyro.rs
+++ b/packages/pros/src/devices/adi/gyro.rs
@@ -17,7 +17,7 @@ pub const GYRO_CALIBRATION_TIME: Duration = Duration::from_millis(1300);
 #[derive(Debug, Eq, PartialEq)]
 pub struct AdiGyro {
     raw: ext_adi_gyro_t,
-    port: AdiPort,
+    pub(crate) port: AdiPort,
 }
 
 impl AdiGyro {
diff --git a/packages/pros/src/devices/adi/linetracker.rs b/packages/pros/src/devices/adi/linetracker.rs
index 4ba4b884..200f1975 100644
--- a/packages/pros/src/devices/adi/linetracker.rs
+++ b/packages/pros/src/devices/adi/linetracker.rs
@@ -23,31 +23,27 @@
 //! between 1/8 and 1/4 of an inch away from the surface it is measuring. It is also important
 //! to keep lighting in the room consistent, so sensors' readings remain accurate.
 
-use pros_sys::PROS_ERR;
-
-use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use crate::error::bail_on;
+use super::{AdiAnalogIn, AdiDevice, AdiDeviceType, AdiError, AdiPort};
 
 /// Analog line tracker device.
 #[derive(Debug, Eq, PartialEq)]
 pub struct AdiLineTracker {
-    port: AdiPort,
+    analog_in: AdiAnalogIn,
 }
 
 impl AdiLineTracker {
     /// Create a line tracker on an ADI port.
-    pub const fn new(port: AdiPort) -> Self {
-        Self { port }
+    pub fn new(port: AdiPort) -> Result<Self, AdiError> {
+        Ok(Self {
+            analog_in: AdiAnalogIn::new(port)?,
+        })
     }
 
     /// Get the reflectivity factor measured by the sensor.
     ///
     /// This is returned as a value ranging from [0.0, 1.0].
     pub fn reflectivity(&self) -> Result<f64, AdiError> {
-        Ok(bail_on!(PROS_ERR, unsafe {
-            pros_sys::ext_adi_analog_read(self.port.internal_expander_index(), self.port.index())
-        }) as f64
-            / 4095.0)
+        Ok(self.analog_in.value()? as f64 / 4095.0)
     }
 
     /// Get the raw reflectivity factor of the sensor.
@@ -55,9 +51,7 @@ impl AdiLineTracker {
     /// This is a raw 12-bit value from [0, 4095] representing the voltage level from
     /// 0-5V measured by the V5 brain's ADC.
     pub fn raw_reflectivity(&self) -> Result<u16, AdiError> {
-        Ok(bail_on!(PROS_ERR, unsafe {
-            pros_sys::ext_adi_analog_read(self.port.internal_expander_index(), self.port.index())
-        }) as u16)
+        self.analog_in.value()
     }
 }
 
@@ -65,11 +59,11 @@ impl AdiDevice for AdiLineTracker {
     type PortIndexOutput = u8;
 
     fn port_index(&self) -> Self::PortIndexOutput {
-        self.port.index()
+        self.analog_in.port_index()
     }
 
     fn expander_port_index(&self) -> Option<u8> {
-        self.port.expander_index()
+        self.analog_in.expander_port_index()
     }
 
     fn device_type(&self) -> AdiDeviceType {
diff --git a/packages/pros/src/devices/adi/mod.rs b/packages/pros/src/devices/adi/mod.rs
index 5c845b1f..f934eada 100644
--- a/packages/pros/src/devices/adi/mod.rs
+++ b/packages/pros/src/devices/adi/mod.rs
@@ -8,6 +8,7 @@ use crate::error::{bail_on, map_errno, PortError};
 //TODO: much more in depth module documentation for device modules as well as this module.
 pub mod analog;
 pub mod digital;
+pub mod pwm;
 
 pub mod encoder;
 pub mod gyro;
@@ -111,21 +112,31 @@ pub trait AdiDevice {
 pub enum AdiDeviceType {
     /// Generic analog input.
     AnalogIn = pros_sys::adi::E_ADI_ANALOG_IN,
+
     /// Generic analog output.
+    ///
+    /// This doesn't actually emit analog signals from the ADI pins; it's
+    /// just PWM output.
     AnalogOut = pros_sys::adi::E_ADI_ANALOG_OUT,
+
     /// Generic digital input.
     DigitalIn = pros_sys::adi::E_ADI_DIGITAL_IN,
+
     /// Generic digital output.
     DigitalOut = pros_sys::adi::E_ADI_DIGITAL_OUT,
 
-    /// Cortex-era gyro.
+    /// Cortex-era yaw-rate gyroscope.
     LegacyGyro = pros_sys::adi::E_ADI_LEGACY_GYRO,
+
     /// Cortex-era servo motor.
     LegacyServo = pros_sys::adi::E_ADI_LEGACY_SERVO,
+
     /// PWM output.
     LegacyPwm = pros_sys::adi::E_ADI_LEGACY_PWM,
+
     /// Cortex-era encoder.
     LegacyEncoder = pros_sys::E_ADI_LEGACY_ENCODER,
+
     /// Cortex-era ultrasonic sensor.
     LegacyUltrasonic = pros_sys::E_ADI_LEGACY_ULTRASONIC,
 }
diff --git a/packages/pros/src/devices/adi/motor.rs b/packages/pros/src/devices/adi/motor.rs
index 9eb20fd8..3abd256e 100644
--- a/packages/pros/src/devices/adi/motor.rs
+++ b/packages/pros/src/devices/adi/motor.rs
@@ -8,7 +8,7 @@ use crate::error::bail_on;
 #[derive(Debug, Eq, PartialEq)]
 /// Cortex era motor device.
 pub struct AdiMotor {
-    port: AdiPort,
+    pub(crate) port: AdiPort,
 }
 
 impl AdiMotor {
diff --git a/packages/pros/src/devices/adi/pwm.rs b/packages/pros/src/devices/adi/pwm.rs
new file mode 100644
index 00000000..2da33ad6
--- /dev/null
+++ b/packages/pros/src/devices/adi/pwm.rs
@@ -0,0 +1,58 @@
+//! ADI Pulse-width modulation (PWM).
+
+use pros_sys::PROS_ERR;
+
+use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
+use crate::error::bail_on;
+
+/// Generic PWM output ADI device.
+#[derive(Debug, Eq, PartialEq)]
+pub struct AdiPwmOut {
+    port: AdiPort,
+}
+
+impl AdiPwmOut {
+    /// Create a pwm output from an [`AdiPort`].
+    pub fn new(port: AdiPort) -> Result<Self, AdiError> {
+        bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_port_set_config(
+                port.internal_expander_index(),
+                port.index(),
+                pros_sys::E_ADI_ANALOG_OUT,
+            )
+        });
+
+        Ok(Self { port })
+    }
+
+    /// Sets the PWM output from 0 (0V) to 4095 (5V).
+    pub fn set_value(&mut self, value: u8) -> Result<(), AdiError> {
+        bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_port_set_value(
+                self.port.internal_expander_index(),
+                self.port.index(),
+                value as i32,
+            )
+        });
+
+        Ok(())
+    }
+}
+
+impl AdiDevice for AdiPwmOut {
+    type PortIndexOutput = u8;
+
+    fn port_index(&self) -> Self::PortIndexOutput {
+        self.port.index()
+    }
+
+    fn expander_port_index(&self) -> Option<u8> {
+        self.port.expander_index()
+    }
+
+    fn device_type(&self) -> AdiDeviceType {
+        // This could be either AnalogOut or LegacyPwm, they
+        // have seemingly equivalent behavior.
+        AdiDeviceType::AnalogOut
+    }
+}
diff --git a/packages/pros/src/devices/adi/solenoid.rs b/packages/pros/src/devices/adi/solenoid.rs
index 1447aa63..139d084c 100644
--- a/packages/pros/src/devices/adi/solenoid.rs
+++ b/packages/pros/src/devices/adi/solenoid.rs
@@ -1,39 +1,29 @@
 //! ADI Solenoid Pneumatic Control
 
-use pros_sys::PROS_ERR;
-
-use super::{digital::LogicLevel, AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use crate::error::bail_on;
+use super::{digital::LogicLevel, AdiDevice, AdiDeviceType, AdiDigitalOut, AdiError, AdiPort};
 
 /// Digital pneumatic solenoid valve.
 #[derive(Debug, Eq, PartialEq)]
 pub struct AdiSolenoid {
-    port: AdiPort,
+    digital_out: AdiDigitalOut,
     level: LogicLevel,
 }
 
 impl AdiSolenoid {
     /// Create an AdiSolenoid.
-    pub const fn new(port: AdiPort) -> Self {
-        Self {
-            port,
+    pub fn new(port: AdiPort) -> Result<Self, AdiError> {
+        Ok(Self {
+            digital_out: AdiDigitalOut::new(port)?,
             level: LogicLevel::Low,
-        }
+        })
     }
 
     /// Sets the digital logic level of the solenoid. [`LogicLevel::Low`] will close the solenoid,
     /// and [`LogicLevel::High`] will open it.
     pub fn set_level(&mut self, level: LogicLevel) -> Result<(), AdiError> {
+        self.digital_out.set_level(level)?;
         self.level = level;
 
-        bail_on!(PROS_ERR, unsafe {
-            pros_sys::ext_adi_digital_write(
-                self.port.internal_expander_index(),
-                self.port.index(),
-                level.is_high(),
-            )
-        });
-
         Ok(())
     }
 
@@ -43,18 +33,18 @@ impl AdiSolenoid {
     }
 
     /// Returns `true` if the solenoid is open.
-    pub const fn is_open(&self) -> LogicLevel {
-        self.level
+    pub const fn is_open(&self) -> bool {
+        self.level.is_high()
     }
 
     /// Returns `true` if the solenoid is closed.
-    pub const fn is_closed(&self) -> LogicLevel {
-        self.level
+    pub const fn is_closed(&self) -> bool {
+        self.level.is_low()
     }
 
     /// Open the solenoid, allowing air pressure through the "open" valve.
     pub fn open(&mut self) -> Result<(), AdiError> {
-        self.set_level(LogicLevel::High)
+        self.digital_out.set_level(LogicLevel::High)
     }
 
     /// Close the solenoid.
@@ -64,12 +54,12 @@ impl AdiSolenoid {
     /// - On double-acting solenoids (e.g. SYJ3120-SMO-M3-F), this will block air pressure through
     /// the "open" valve and allow air pressure into the "close" valve.
     pub fn close(&mut self) -> Result<(), AdiError> {
-        self.set_level(LogicLevel::Low)
+        self.digital_out.set_level(LogicLevel::Low)
     }
 
     /// Toggle the solenoid's state between open and closed.
     pub fn toggle(&mut self) -> Result<(), AdiError> {
-        self.set_level(!self.level)
+        self.digital_out.set_level(!self.level)
     }
 }
 
@@ -77,11 +67,11 @@ impl AdiDevice for AdiSolenoid {
     type PortIndexOutput = u8;
 
     fn port_index(&self) -> Self::PortIndexOutput {
-        self.port.index()
+        self.digital_out.port_index()
     }
 
     fn expander_port_index(&self) -> Option<u8> {
-        self.port.expander_index()
+        self.digital_out.expander_port_index()
     }
 
     fn device_type(&self) -> AdiDeviceType {
diff --git a/packages/pros/src/devices/adi/switch.rs b/packages/pros/src/devices/adi/switch.rs
index 5de703a4..781909df 100644
--- a/packages/pros/src/devices/adi/switch.rs
+++ b/packages/pros/src/devices/adi/switch.rs
@@ -8,32 +8,27 @@ use crate::error::bail_on;
 /// Generic digital input ADI device.
 #[derive(Debug, Eq, PartialEq)]
 pub struct AdiSwitch {
-    port: AdiPort,
+    digital_in: AdiDigitalIn,
 }
 
 impl AdiSwitch {
-    /// Create a digital input from an ADI port.
-    pub const fn new(port: AdiPort) -> Self {
-        Self { port }
+    /// Create a digital switch from an ADI port.
+    pub fn new(port: AdiPort) -> Result<Self, AdiError> {
+        Ok(Self {
+            digital_in: AdiDigitalIn::new(port)?,
+        })
     }
 
     /// Gets the current logic level of a digital switch.
     pub fn level(&self) -> Result<LogicLevel, AdiError> {
-        let value = bail_on!(PROS_ERR, unsafe {
-            pros_sys::ext_adi_digital_read(self.port.internal_expander_index(), self.port.index())
-        }) != 0;
-
-        Ok(match value {
-            true => LogicLevel::High,
-            false => LogicLevel::Low,
-        })
+        self.digital_in.level()
     }
 
     /// Returrns `true` if the switch is currently being pressed.
     ///
     /// This is equivalent shorthand to calling `Self::level().is_high()`.
     pub fn is_pressed(&self) -> Result<bool, AdiError> {
-        Ok(self.level()?.is_high())
+        self.digital_in.is_high()
     }
 
     /// Returns `true` if the switch has been pressed again since the last time this
@@ -52,18 +47,17 @@ impl AdiSwitch {
     pub fn was_pressed(&mut self) -> Result<bool, AdiError> {
         Ok(bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_digital_get_new_press(
-                self.port.internal_expander_index(),
-                self.port.index(),
+                self.digital_in.expander_port_index()
+                    .unwrap_or(pros_sys::adi::INTERNAL_ADI_PORT as u8),
+                self.digital_in.port_index(),
             )
         }) != 0)
     }
 }
 
 impl From<AdiDigitalIn> for AdiSwitch {
-    fn from(device: AdiDigitalIn) -> Self {
-        Self {
-            port: unsafe { AdiPort::new(device.port_index(), device.expander_port_index()) },
-        }
+    fn from(digital_in: AdiDigitalIn) -> Self {
+        Self { digital_in }
     }
 }
 
@@ -71,11 +65,11 @@ impl AdiDevice for AdiSwitch {
     type PortIndexOutput = u8;
 
     fn port_index(&self) -> Self::PortIndexOutput {
-        self.port.index()
+        self.digital_in.port_index()
     }
 
     fn expander_port_index(&self) -> Option<u8> {
-        self.port.expander_index()
+        self.digital_in.expander_port_index()
     }
 
     fn device_type(&self) -> AdiDeviceType {
diff --git a/packages/pros/src/lib.rs b/packages/pros/src/lib.rs
index 53f1c306..f634fd10 100644
--- a/packages/pros/src/lib.rs
+++ b/packages/pros/src/lib.rs
@@ -377,12 +377,13 @@ pub mod prelude {
         color::Rgb,
         devices::{
             adi::{
-                analog::{AdiAnalogIn, AdiAnalogOut},
+                analog::AdiAnalogIn,
                 digital::{AdiDigitalIn, AdiDigitalOut},
                 encoder::AdiEncoder,
                 gyro::AdiGyro,
                 motor::AdiMotor,
                 potentiometer::{AdiPotentiometer, AdiPotentiometerType},
+                pwm::AdiPwmOut,
                 solenoid::AdiSolenoid,
                 ultrasonic::AdiUltrasonic,
                 AdiDevice, AdiPort,

From c5e4212605259555db10a3587b0c13e647ba5bc8 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Mon, 12 Feb 2024 15:49:57 -0600
Subject: [PATCH 40/96] docs: typo

---
 packages/pros/src/devices/adi/switch.rs | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/packages/pros/src/devices/adi/switch.rs b/packages/pros/src/devices/adi/switch.rs
index 781909df..e691b30e 100644
--- a/packages/pros/src/devices/adi/switch.rs
+++ b/packages/pros/src/devices/adi/switch.rs
@@ -24,7 +24,7 @@ impl AdiSwitch {
         self.digital_in.level()
     }
 
-    /// Returrns `true` if the switch is currently being pressed.
+    /// Returns `true` if the switch is currently being pressed.
     ///
     /// This is equivalent shorthand to calling `Self::level().is_high()`.
     pub fn is_pressed(&self) -> Result<bool, AdiError> {
@@ -47,7 +47,8 @@ impl AdiSwitch {
     pub fn was_pressed(&mut self) -> Result<bool, AdiError> {
         Ok(bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_digital_get_new_press(
-                self.digital_in.expander_port_index()
+                self.digital_in
+                    .expander_port_index()
                     .unwrap_or(pros_sys::adi::INTERNAL_ADI_PORT as u8),
                 self.digital_in.port_index(),
             )

From a03ce3f62e8dfb4ffabb6f70529b829e132b1d65 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Mon, 12 Feb 2024 22:02:44 -0600
Subject: [PATCH 41/96] remove leftover pub(crate)

---
 packages/pros/src/devices/adi/gyro.rs  | 2 +-
 packages/pros/src/devices/adi/motor.rs | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/packages/pros/src/devices/adi/gyro.rs b/packages/pros/src/devices/adi/gyro.rs
index 02281f3b..9ef00108 100644
--- a/packages/pros/src/devices/adi/gyro.rs
+++ b/packages/pros/src/devices/adi/gyro.rs
@@ -17,7 +17,7 @@ pub const GYRO_CALIBRATION_TIME: Duration = Duration::from_millis(1300);
 #[derive(Debug, Eq, PartialEq)]
 pub struct AdiGyro {
     raw: ext_adi_gyro_t,
-    pub(crate) port: AdiPort,
+    port: AdiPort,
 }
 
 impl AdiGyro {
diff --git a/packages/pros/src/devices/adi/motor.rs b/packages/pros/src/devices/adi/motor.rs
index 3abd256e..9eb20fd8 100644
--- a/packages/pros/src/devices/adi/motor.rs
+++ b/packages/pros/src/devices/adi/motor.rs
@@ -8,7 +8,7 @@ use crate::error::bail_on;
 #[derive(Debug, Eq, PartialEq)]
 /// Cortex era motor device.
 pub struct AdiMotor {
-    pub(crate) port: AdiPort,
+    port: AdiPort,
 }
 
 impl AdiMotor {

From 9df9b5d99ab3baa712127d43b4f9b7a51967dc34 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Tue, 13 Feb 2024 10:13:10 -0600
Subject: [PATCH 42/96] remove device conversions for now

---
 packages/pros/src/devices/adi/switch.rs | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/packages/pros/src/devices/adi/switch.rs b/packages/pros/src/devices/adi/switch.rs
index e691b30e..3ea1dbf7 100644
--- a/packages/pros/src/devices/adi/switch.rs
+++ b/packages/pros/src/devices/adi/switch.rs
@@ -56,12 +56,6 @@ impl AdiSwitch {
     }
 }
 
-impl From<AdiDigitalIn> for AdiSwitch {
-    fn from(digital_in: AdiDigitalIn) -> Self {
-        Self { digital_in }
-    }
-}
-
 impl AdiDevice for AdiSwitch {
     type PortIndexOutput = u8;
 

From dadb8db9786b10306bb9ca27fd58452d2dd49acb Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Tue, 13 Feb 2024 21:34:23 -0600
Subject: [PATCH 43/96] refactor: revert wrapper change

---
 packages/pros/src/devices/adi/linetracker.rs | 32 +++++++++----
 packages/pros/src/devices/adi/solenoid.rs    | 44 ++++++++++++------
 packages/pros/src/devices/adi/switch.rs      | 47 ++++++++++++++------
 3 files changed, 87 insertions(+), 36 deletions(-)

diff --git a/packages/pros/src/devices/adi/linetracker.rs b/packages/pros/src/devices/adi/linetracker.rs
index 200f1975..3f677779 100644
--- a/packages/pros/src/devices/adi/linetracker.rs
+++ b/packages/pros/src/devices/adi/linetracker.rs
@@ -23,27 +23,39 @@
 //! between 1/8 and 1/4 of an inch away from the surface it is measuring. It is also important
 //! to keep lighting in the room consistent, so sensors' readings remain accurate.
 
-use super::{AdiAnalogIn, AdiDevice, AdiDeviceType, AdiError, AdiPort};
+use pros_sys::PROS_ERR;
+
+use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
+use crate::error::bail_on;
 
 /// Analog line tracker device.
 #[derive(Debug, Eq, PartialEq)]
 pub struct AdiLineTracker {
-    analog_in: AdiAnalogIn,
+    port: AdiPort,
 }
 
 impl AdiLineTracker {
     /// Create a line tracker on an ADI port.
     pub fn new(port: AdiPort) -> Result<Self, AdiError> {
-        Ok(Self {
-            analog_in: AdiAnalogIn::new(port)?,
-        })
+        bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_port_set_config(
+                port.internal_expander_index(),
+                port.index(),
+                pros_sys::E_ADI_ANALOG_IN,
+            )
+        });
+
+        Ok(Self { port })
     }
 
     /// Get the reflectivity factor measured by the sensor.
     ///
     /// This is returned as a value ranging from [0.0, 1.0].
     pub fn reflectivity(&self) -> Result<f64, AdiError> {
-        Ok(self.analog_in.value()? as f64 / 4095.0)
+        Ok(bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_analog_read(self.port.internal_expander_index(), self.port.index())
+        }) as f64
+            / 4095.0)
     }
 
     /// Get the raw reflectivity factor of the sensor.
@@ -51,7 +63,9 @@ impl AdiLineTracker {
     /// This is a raw 12-bit value from [0, 4095] representing the voltage level from
     /// 0-5V measured by the V5 brain's ADC.
     pub fn raw_reflectivity(&self) -> Result<u16, AdiError> {
-        self.analog_in.value()
+        Ok(bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_analog_read(self.port.internal_expander_index(), self.port.index())
+        }) as u16)
     }
 }
 
@@ -59,11 +73,11 @@ impl AdiDevice for AdiLineTracker {
     type PortIndexOutput = u8;
 
     fn port_index(&self) -> Self::PortIndexOutput {
-        self.analog_in.port_index()
+        self.port.index()
     }
 
     fn expander_port_index(&self) -> Option<u8> {
-        self.analog_in.expander_port_index()
+        self.port.expander_index()
     }
 
     fn device_type(&self) -> AdiDeviceType {
diff --git a/packages/pros/src/devices/adi/solenoid.rs b/packages/pros/src/devices/adi/solenoid.rs
index 139d084c..d6152a51 100644
--- a/packages/pros/src/devices/adi/solenoid.rs
+++ b/packages/pros/src/devices/adi/solenoid.rs
@@ -1,19 +1,30 @@
 //! ADI Solenoid Pneumatic Control
 
-use super::{digital::LogicLevel, AdiDevice, AdiDeviceType, AdiDigitalOut, AdiError, AdiPort};
+use pros_sys::PROS_ERR;
+
+use super::{digital::LogicLevel, AdiDevice, AdiDeviceType, AdiError, AdiPort};
+use crate::error::bail_on;
 
 /// Digital pneumatic solenoid valve.
 #[derive(Debug, Eq, PartialEq)]
 pub struct AdiSolenoid {
-    digital_out: AdiDigitalOut,
+    port: AdiPort,
     level: LogicLevel,
 }
 
 impl AdiSolenoid {
     /// Create an AdiSolenoid.
     pub fn new(port: AdiPort) -> Result<Self, AdiError> {
+        bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_port_set_config(
+                port.internal_expander_index(),
+                port.index(),
+                pros_sys::E_ADI_DIGITAL_OUT,
+            )
+        });
+
         Ok(Self {
-            digital_out: AdiDigitalOut::new(port)?,
+            port,
             level: LogicLevel::Low,
         })
     }
@@ -21,9 +32,16 @@ impl AdiSolenoid {
     /// Sets the digital logic level of the solenoid. [`LogicLevel::Low`] will close the solenoid,
     /// and [`LogicLevel::High`] will open it.
     pub fn set_level(&mut self, level: LogicLevel) -> Result<(), AdiError> {
-        self.digital_out.set_level(level)?;
         self.level = level;
 
+        bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_digital_write(
+                self.port.internal_expander_index(),
+                self.port.index(),
+                level.is_high(),
+            )
+        });
+
         Ok(())
     }
 
@@ -33,18 +51,18 @@ impl AdiSolenoid {
     }
 
     /// Returns `true` if the solenoid is open.
-    pub const fn is_open(&self) -> bool {
-        self.level.is_high()
+    pub const fn is_open(&self) -> LogicLevel {
+        self.level
     }
 
     /// Returns `true` if the solenoid is closed.
-    pub const fn is_closed(&self) -> bool {
-        self.level.is_low()
+    pub const fn is_closed(&self) -> LogicLevel {
+        self.level
     }
 
     /// Open the solenoid, allowing air pressure through the "open" valve.
     pub fn open(&mut self) -> Result<(), AdiError> {
-        self.digital_out.set_level(LogicLevel::High)
+        self.set_level(LogicLevel::High)
     }
 
     /// Close the solenoid.
@@ -54,12 +72,12 @@ impl AdiSolenoid {
     /// - On double-acting solenoids (e.g. SYJ3120-SMO-M3-F), this will block air pressure through
     /// the "open" valve and allow air pressure into the "close" valve.
     pub fn close(&mut self) -> Result<(), AdiError> {
-        self.digital_out.set_level(LogicLevel::Low)
+        self.set_level(LogicLevel::Low)
     }
 
     /// Toggle the solenoid's state between open and closed.
     pub fn toggle(&mut self) -> Result<(), AdiError> {
-        self.digital_out.set_level(!self.level)
+        self.set_level(!self.level)
     }
 }
 
@@ -67,11 +85,11 @@ impl AdiDevice for AdiSolenoid {
     type PortIndexOutput = u8;
 
     fn port_index(&self) -> Self::PortIndexOutput {
-        self.digital_out.port_index()
+        self.port.index()
     }
 
     fn expander_port_index(&self) -> Option<u8> {
-        self.digital_out.expander_port_index()
+        self.port.expander_index()
     }
 
     fn device_type(&self) -> AdiDeviceType {
diff --git a/packages/pros/src/devices/adi/switch.rs b/packages/pros/src/devices/adi/switch.rs
index 3ea1dbf7..15d824ac 100644
--- a/packages/pros/src/devices/adi/switch.rs
+++ b/packages/pros/src/devices/adi/switch.rs
@@ -8,27 +8,40 @@ use crate::error::bail_on;
 /// Generic digital input ADI device.
 #[derive(Debug, Eq, PartialEq)]
 pub struct AdiSwitch {
-    digital_in: AdiDigitalIn,
+    port: AdiPort,
 }
 
 impl AdiSwitch {
-    /// Create a digital switch from an ADI port.
+    /// Create a digital input from an ADI port.
     pub fn new(port: AdiPort) -> Result<Self, AdiError> {
-        Ok(Self {
-            digital_in: AdiDigitalIn::new(port)?,
-        })
+        bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_port_set_config(
+                port.internal_expander_index(),
+                port.index(),
+                pros_sys::E_ADI_DIGITAL_IN,
+            )
+        });
+
+        Ok(Self { port })
     }
 
     /// Gets the current logic level of a digital switch.
     pub fn level(&self) -> Result<LogicLevel, AdiError> {
-        self.digital_in.level()
+        let value = bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_digital_read(self.port.internal_expander_index(), self.port.index())
+        }) != 0;
+
+        Ok(match value {
+            true => LogicLevel::High,
+            false => LogicLevel::Low,
+        })
     }
 
-    /// Returns `true` if the switch is currently being pressed.
+    /// Returrns `true` if the switch is currently being pressed.
     ///
     /// This is equivalent shorthand to calling `Self::level().is_high()`.
     pub fn is_pressed(&self) -> Result<bool, AdiError> {
-        self.digital_in.is_high()
+        Ok(self.level()?.is_high())
     }
 
     /// Returns `true` if the switch has been pressed again since the last time this
@@ -47,24 +60,30 @@ impl AdiSwitch {
     pub fn was_pressed(&mut self) -> Result<bool, AdiError> {
         Ok(bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_digital_get_new_press(
-                self.digital_in
-                    .expander_port_index()
-                    .unwrap_or(pros_sys::adi::INTERNAL_ADI_PORT as u8),
-                self.digital_in.port_index(),
+                self.port.internal_expander_index(),
+                self.port.index(),
             )
         }) != 0)
     }
 }
 
+impl From<AdiDigitalIn> for AdiSwitch {
+    fn from(device: AdiDigitalIn) -> Self {
+        Self {
+            port: unsafe { AdiPort::new(device.port_index(), device.expander_port_index()) },
+        }
+    }
+}
+
 impl AdiDevice for AdiSwitch {
     type PortIndexOutput = u8;
 
     fn port_index(&self) -> Self::PortIndexOutput {
-        self.digital_in.port_index()
+        self.port.index()
     }
 
     fn expander_port_index(&self) -> Option<u8> {
-        self.digital_in.expander_port_index()
+        self.port.expander_index()
     }
 
     fn device_type(&self) -> AdiDeviceType {

From 3f6ac079841a843c75c8c819b1d9648e736e6579 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Tue, 13 Feb 2024 21:37:35 -0600
Subject: [PATCH 44/96] docs: update changelog

---
 CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 09229dce..acaeac1c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -54,6 +54,7 @@ Before releasing:
 - 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).
 
 ### Removed
 

From 292df31b8c1bebb5461045419279636c2d143633 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Wed, 14 Feb 2024 07:38:27 -0600
Subject: [PATCH 45/96] refactor: PWM Output

---
 packages/pros/src/devices/adi/mod.rs | 16 ++++++++++------
 packages/pros/src/devices/adi/pwm.rs | 11 ++++++-----
 2 files changed, 16 insertions(+), 11 deletions(-)

diff --git a/packages/pros/src/devices/adi/mod.rs b/packages/pros/src/devices/adi/mod.rs
index f934eada..6eff690a 100644
--- a/packages/pros/src/devices/adi/mod.rs
+++ b/packages/pros/src/devices/adi/mod.rs
@@ -113,11 +113,11 @@ pub enum AdiDeviceType {
     /// Generic analog input.
     AnalogIn = pros_sys::adi::E_ADI_ANALOG_IN,
 
-    /// Generic analog output.
+    /// Generic PWM output.
     ///
-    /// This doesn't actually emit analog signals from the ADI pins; it's
-    /// just PWM output.
-    AnalogOut = pros_sys::adi::E_ADI_ANALOG_OUT,
+    /// This is actually equivalent `pros_sys::adi::E_ADI_ANALOG_OUT`, which is a misnomer.
+    /// "Analog Out" in reality outputs an 8-bit PWM value.
+    PwmOut = pros_sys::adi::E_ADI_ANALOG_OUT,
 
     /// Generic digital input.
     DigitalIn = pros_sys::adi::E_ADI_DIGITAL_IN,
@@ -131,7 +131,11 @@ pub enum AdiDeviceType {
     /// Cortex-era servo motor.
     LegacyServo = pros_sys::adi::E_ADI_LEGACY_SERVO,
 
-    /// PWM output.
+    /// MC29 Controller Output
+    ///
+    /// This differs from [`Self::PwmOut`] in that it is specifically designed for controlling
+    /// legacy ADI motors. Rather than taking a u8 for output, it takes a i8 allowing negative
+    /// values to be sent for controlling motors in reverse with a nicer API.
     LegacyPwm = pros_sys::adi::E_ADI_LEGACY_PWM,
 
     /// Cortex-era encoder.
@@ -149,7 +153,7 @@ impl TryFrom<adi_port_config_e_t> for AdiDeviceType {
 
         match value {
             pros_sys::E_ADI_ANALOG_IN => Ok(AdiDeviceType::AnalogIn),
-            pros_sys::E_ADI_ANALOG_OUT => Ok(AdiDeviceType::AnalogOut),
+            pros_sys::E_ADI_ANALOG_OUT => Ok(AdiDeviceType::PwmOut),
             pros_sys::E_ADI_DIGITAL_IN => Ok(AdiDeviceType::DigitalIn),
             pros_sys::E_ADI_DIGITAL_OUT => Ok(AdiDeviceType::DigitalOut),
 
diff --git a/packages/pros/src/devices/adi/pwm.rs b/packages/pros/src/devices/adi/pwm.rs
index 2da33ad6..d1556533 100644
--- a/packages/pros/src/devices/adi/pwm.rs
+++ b/packages/pros/src/devices/adi/pwm.rs
@@ -25,8 +25,11 @@ impl AdiPwmOut {
         Ok(Self { port })
     }
 
-    /// Sets the PWM output from 0 (0V) to 4095 (5V).
-    pub fn set_value(&mut self, value: u8) -> Result<(), AdiError> {
+    /// Sets the PWM output width.
+    ///
+    /// This value is sent over 16ms periods with pulse widths ranging from roughly
+    /// 0.94mS to 2.03mS.
+    pub fn set_output(&mut self, value: u8) -> Result<(), AdiError> {
         bail_on!(PROS_ERR, unsafe {
             pros_sys::ext_adi_port_set_value(
                 self.port.internal_expander_index(),
@@ -51,8 +54,6 @@ impl AdiDevice for AdiPwmOut {
     }
 
     fn device_type(&self) -> AdiDeviceType {
-        // This could be either AnalogOut or LegacyPwm, they
-        // have seemingly equivalent behavior.
-        AdiDeviceType::AnalogOut
+        AdiDeviceType::PwmOut
     }
 }

From fcfc612ba8f5526f2c92a8a2734a5df77299a1b4 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Wed, 14 Feb 2024 21:54:14 -0800
Subject: [PATCH 46/96] fix: avoid overflowing multiplications in draw_buffer

---
 packages/pros/src/devices/screen.rs | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/packages/pros/src/devices/screen.rs b/packages/pros/src/devices/screen.rs
index 34413e7e..776b2837 100644
--- a/packages/pros/src/devices/screen.rs
+++ b/packages/pros/src/devices/screen.rs
@@ -459,7 +459,8 @@ impl Screen {
             .into_iter()
             .map(|i| i.into_rgb().into())
             .collect::<Vec<_>>();
-        let expected_size = ((x1 - x0) * (y1 - y0)) as usize;
+        // Convert the coordinates to u32 to avoid overflows when multiplying.
+        let expected_size = ((x1 - x0) as u32 * (y1 - y0) as u32) as usize;
         if raw_buf.len() != expected_size {
             return Err(ScreenError::CopyBufferWrongSize {
                 buffer_size: raw_buf.len(),

From 478f85533e7d6f0757e46e78531afc2559eed11b Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Wed, 14 Feb 2024 21:58:01 -0800
Subject: [PATCH 47/96] docs: update changelog

---
 CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 121a965b..2220f5e8 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -92,6 +92,7 @@ Before releasing:
 - 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)
+- Fixed a multiplication overflow in `screen::draw_buffer`. (#92)
 
 ### Changed
 

From 1ac7a3ded48745bcb082654ce50a7c7daade28fe Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Wed, 14 Feb 2024 22:02:00 -0800
Subject: [PATCH 48/96] revert: take fix out of changelog

---
 CHANGELOG.md | 1 -
 1 file changed, 1 deletion(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2220f5e8..121a965b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -92,7 +92,6 @@ Before releasing:
 - 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)
-- Fixed a multiplication overflow in `screen::draw_buffer`. (#92)
 
 ### Changed
 

From ef31c62415472d7f2f8768a2543db1dcd479ca2a Mon Sep 17 00:00:00 2001
From: Johan Novak <johan@impossiblereality.dev>
Date: Tue, 27 Feb 2024 21:43:56 -0800
Subject: [PATCH 49/96] fix: AsyncRobot shouldn't only run opcontrol

---
 packages/pros/src/lib.rs | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/packages/pros/src/lib.rs b/packages/pros/src/lib.rs
index 50acce59..8f501810 100644
--- a/packages/pros/src/lib.rs
+++ b/packages/pros/src/lib.rs
@@ -209,7 +209,7 @@ macro_rules! __gen_async_exports {
         #[doc(hidden)]
         #[no_mangle]
         extern "C" fn autonomous() {
-            $crate::async_runtime::block_on(<$rbt as $crate::AsyncRobot>::opcontrol(unsafe {
+            $crate::async_runtime::block_on(<$rbt as $crate::AsyncRobot>::auto(unsafe {
                 ROBOT
                     .as_mut()
                     .expect("Expected initialize to run before auto")
@@ -220,7 +220,7 @@ macro_rules! __gen_async_exports {
         #[doc(hidden)]
         #[no_mangle]
         extern "C" fn disabled() {
-            $crate::async_runtime::block_on(<$rbt as $crate::AsyncRobot>::opcontrol(unsafe {
+            $crate::async_runtime::block_on(<$rbt as $crate::AsyncRobot>::disabled(unsafe {
                 ROBOT
                     .as_mut()
                     .expect("Expected initialize to run before disabled")
@@ -231,7 +231,7 @@ macro_rules! __gen_async_exports {
         #[doc(hidden)]
         #[no_mangle]
         extern "C" fn competition_initialize() {
-            $crate::async_runtime::block_on(<$rbt as $crate::AsyncRobot>::opcontrol(unsafe {
+            $crate::async_runtime::block_on(<$rbt as $crate::AsyncRobot>::comp_init(unsafe {
                 ROBOT
                     .as_mut()
                     .expect("Expected initialize to run before comp_init")

From 5fd6360530c107807be34a1ed4911621c796adb2 Mon Sep 17 00:00:00 2001
From: Johan Novak <johan@impossiblereality.dev>
Date: Tue, 27 Feb 2024 21:44:43 -0800
Subject: [PATCH 50/96] chore: update changelog

---
 CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 121a965b..ca82973d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -35,6 +35,7 @@ Before releasing:
 ### Fixed
 
 - Fix error handling and error type variats in ADI bindings
+- Fix `AsynRobot` only running opcontrol
 
 ### Changed
 

From 162e3c46158aa5fa7d27b8c7717008a14ca67f6a Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Thu, 29 Feb 2024 20:58:14 -0600
Subject: [PATCH 51/96] fix: handle EADDRINUSE

---
 packages/pros/src/error.rs | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/packages/pros/src/error.rs b/packages/pros/src/error.rs
index c619f01d..4d0dd7bb 100644
--- a/packages/pros/src/error.rs
+++ b/packages/pros/src/error.rs
@@ -97,9 +97,12 @@ pub enum PortError {
     PortOutOfRange,
     /// The specified port couldn't be configured as the specified type.
     PortCannotBeConfigured,
+    /// The specified port is already being used or is mismatched.
+    AlreadyInUse,
 }
 
 map_errno!(PortError {
     ENXIO => Self::PortOutOfRange,
     ENODEV => Self::PortCannotBeConfigured,
+    EADDRINUSE => Self::AlreadyInUse,
 });

From d62e6678c32f2811709bd030e67c38ab540dd649 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Thu, 29 Feb 2024 21:02:42 -0600
Subject: [PATCH 52/96] docs: update changelog

---
 CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index ca82973d..b8693765 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -36,6 +36,7 @@ Before releasing:
 
 - 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
 

From 4263c049e4e04b8df76e61e33c129411a6cdd3e0 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Thu, 29 Feb 2024 21:17:58 -0600
Subject: [PATCH 53/96] refactor: move device constants into associated impl

---
 packages/pros/src/devices/adi/gyro.rs      | 12 ++++----
 packages/pros/src/devices/screen.rs        | 34 ++++++++++++----------
 packages/pros/src/devices/smart/imu.rs     | 17 ++++++-----
 packages/pros/src/devices/smart/optical.rs | 21 ++++++-------
 4 files changed, 44 insertions(+), 40 deletions(-)

diff --git a/packages/pros/src/devices/adi/gyro.rs b/packages/pros/src/devices/adi/gyro.rs
index 9ef00108..632a6c47 100644
--- a/packages/pros/src/devices/adi/gyro.rs
+++ b/packages/pros/src/devices/adi/gyro.rs
@@ -7,12 +7,6 @@ use pros_sys::{ext_adi_gyro_t, PROS_ERR, PROS_ERR_F};
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
 use crate::error::bail_on;
 
-/// The time it takes to calibrate an [`AdiGyro`].
-///
-/// The theoretical calibration time is 1024ms, but in practice this seemed to be the
-/// actual time that it takes.
-pub const GYRO_CALIBRATION_TIME: Duration = Duration::from_millis(1300);
-
 /// ADI gyro device.
 #[derive(Debug, Eq, PartialEq)]
 pub struct AdiGyro {
@@ -21,6 +15,12 @@ pub struct AdiGyro {
 }
 
 impl AdiGyro {
+    /// The time it takes to calibrate an [`AdiGyro`].
+    ///
+    /// The theoretical calibration time is 1024ms, but in practice this seemed to be the
+    /// actual time that it takes.
+    pub const CALIBRATION_TIME: Duration = Duration::from_millis(1300);
+
     /// Create a new gyro from an [`AdiPort`].
     ///
     /// If the given port has not previously been configured as a gyro, then this
diff --git a/packages/pros/src/devices/screen.rs b/packages/pros/src/devices/screen.rs
index 776b2837..4346392e 100644
--- a/packages/pros/src/devices/screen.rs
+++ b/packages/pros/src/devices/screen.rs
@@ -20,22 +20,12 @@ pub struct Screen {
     current_line: i16,
 }
 
-/// The maximum number of lines that can be visible on the screen at once.
-pub const SCREEN_MAX_VISIBLE_LINES: usize = 12;
-/// The height of a single line of text on the screen.
-pub const SCREEN_LINE_HEIGHT: i16 = 20;
-
-/// The horizontal resolution of the display.
-pub const SCREEN_HORIZONTAL_RESOLUTION: i16 = 480;
-/// The vertical resolution of the writable part of the display.
-pub const SCREEN_VERTICAL_RESOLUTION: i16 = 240;
-
 impl core::fmt::Write for Screen {
     fn write_str(&mut self, text: &str) -> core::fmt::Result {
         for character in text.chars() {
             if character == '\n' {
-                if self.current_line > (SCREEN_MAX_VISIBLE_LINES as i16 - 2) {
-                    self.scroll(0, SCREEN_LINE_HEIGHT)
+                if self.current_line > (Self::MAX_VISIBLE_LINES as i16 - 2) {
+                    self.scroll(0, Self::LINE_HEIGHT)
                         .map_err(|_| core::fmt::Error)?;
                 } else {
                     self.current_line += 1;
@@ -344,6 +334,18 @@ impl From<TouchState> for pros_sys::last_touch_e_t {
 }
 
 impl Screen {
+    /// The maximum number of lines that can be visible on the screen at once.
+    pub const MAX_VISIBLE_LINES: usize = 12;
+
+    /// The height of a single line of text on the screen.
+    pub const LINE_HEIGHT: i16 = 20;
+
+    /// The horizontal resolution of the display.
+    pub const HORIZONTAL_RESOLUTION: i16 = 480;
+
+    /// The vertical resolution of the writable part of the display.
+    pub const VERTICAL_RESOLUTION: i16 = 240;
+
     /// Create a new screen.
     ///
     /// # Safety
@@ -488,8 +490,8 @@ impl Screen {
         let error_box_rect = Rect::new(
             ERROR_BOX_MARGIN,
             ERROR_BOX_MARGIN,
-            SCREEN_HORIZONTAL_RESOLUTION - ERROR_BOX_MARGIN,
-            SCREEN_VERTICAL_RESOLUTION - ERROR_BOX_MARGIN,
+            Self::HORIZONTAL_RESOLUTION - ERROR_BOX_MARGIN,
+            Self::VERTICAL_RESOLUTION - ERROR_BOX_MARGIN,
         );
 
         self.fill(&error_box_rect, Rgb::RED)?;
@@ -509,7 +511,7 @@ impl Screen {
                         buffer.as_str(),
                         TextPosition::Point(
                             ERROR_BOX_MARGIN + ERROR_BOX_PADDING,
-                            ERROR_BOX_MARGIN + ERROR_BOX_PADDING + (line * SCREEN_LINE_HEIGHT),
+                            ERROR_BOX_MARGIN + ERROR_BOX_PADDING + (line * Self::LINE_HEIGHT),
                         ),
                         TextFormat::Small,
                     ),
@@ -526,7 +528,7 @@ impl Screen {
                 buffer.as_str(),
                 TextPosition::Point(
                     ERROR_BOX_MARGIN + ERROR_BOX_PADDING,
-                    ERROR_BOX_MARGIN + ERROR_BOX_PADDING + (line * SCREEN_LINE_HEIGHT),
+                    ERROR_BOX_MARGIN + ERROR_BOX_PADDING + (line * Self::LINE_HEIGHT),
                 ),
                 TextFormat::Small,
             ),
diff --git a/packages/pros/src/devices/smart/imu.rs b/packages/pros/src/devices/smart/imu.rs
index 0b6b4f9c..519d5a75 100644
--- a/packages/pros/src/devices/smart/imu.rs
+++ b/packages/pros/src/devices/smart/imu.rs
@@ -15,11 +15,6 @@ use crate::{
     time::Instant,
 };
 
-/// The timeout for the IMU to calibrate.
-pub const IMU_RESET_TIMEOUT: Duration = Duration::from_secs(3);
-/// The minimum data rate that you can set an IMU to.
-pub const IMU_MIN_DATA_RATE: Duration = Duration::from_millis(5);
-
 /// Represents a smart port configured as a V5 inertial sensor (IMU)
 #[derive(Debug, Eq, PartialEq)]
 pub struct InertialSensor {
@@ -27,6 +22,12 @@ pub struct InertialSensor {
 }
 
 impl InertialSensor {
+    /// The timeout for the IMU to calibrate.
+    pub const CALIBRATION_TIMEOUT: Duration = Duration::from_secs(3);
+
+    /// The minimum data rate that you can set an IMU to.
+    pub const MIN_DATA_RATE: Duration = Duration::from_millis(5);
+
     /// Create a new inertial sensor from a smart port index.
     pub const fn new(port: SmartPort) -> Self {
         Self { port }
@@ -237,10 +238,10 @@ impl InertialSensor {
 
     /// Sets the update rate of the IMU.
     ///
-    /// This duration must be above [`IMU_MIN_DATA_RATE`] (5 milliseconds).
+    /// This duration must be above [`Self::MIN_DATA_RATE`] (5 milliseconds).
     pub fn set_data_rate(&mut self, data_rate: Duration) -> Result<(), InertialError> {
         unsafe {
-            let rate_ms = if data_rate > IMU_MIN_DATA_RATE {
+            let rate_ms = if data_rate > Self::MIN_DATA_RATE {
                 if let Ok(rate) = u32::try_from(data_rate.as_millis()) {
                     rate
                 } else {
@@ -431,7 +432,7 @@ impl core::future::Future for InertialCalibrateFuture {
 
                 if !is_calibrating {
                     return Poll::Ready(Ok(()));
-                } else if timestamp.elapsed() > IMU_RESET_TIMEOUT {
+                } else if timestamp.elapsed() > InertialSensor::CALIBRATION_TIMEOUT {
                     return Poll::Ready(Err(InertialError::CalibrationTimedOut));
                 }
 
diff --git a/packages/pros/src/devices/smart/optical.rs b/packages/pros/src/devices/smart/optical.rs
index c80d9387..fe700ab6 100644
--- a/packages/pros/src/devices/smart/optical.rs
+++ b/packages/pros/src/devices/smart/optical.rs
@@ -8,14 +8,6 @@ use snafu::Snafu;
 use super::{SmartDevice, SmartDeviceType, SmartPort};
 use crate::error::{bail_on, map_errno, PortError};
 
-/// The smallest integration time you can set on an optical sensor.
-pub const MIN_INTEGRATION_TIME: Duration = Duration::from_millis(3);
-/// The largest integration time you can set on an optical sensor.
-pub const MAX_INTEGRATION_TIME: Duration = Duration::from_millis(712);
-
-/// The maximum value for the LED PWM.
-pub const MAX_LED_PWM: u8 = 100;
-
 /// Represents a smart port configured as a V5 optical sensor
 #[derive(Debug, Eq, PartialEq)]
 pub struct OpticalSensor {
@@ -24,6 +16,15 @@ pub struct OpticalSensor {
 }
 
 impl OpticalSensor {
+    /// The smallest integration time you can set on an optical sensor.
+    pub const MIN_INTEGRATION_TIME: Duration = Duration::from_millis(3);
+
+    /// The largest integration time you can set on an optical sensor.
+    pub const MAX_INTEGRATION_TIME: Duration = Duration::from_millis(712);
+
+    /// The maximum value for the LED PWM.
+    pub const MAX_LED_PWM: u8 = 100;
+
     /// Creates a new inertial sensor from a smart port index.
     ///
     /// Gesture detection features can be optionally enabled, allowing the use of [`Self::last_gesture_direction()`] and [`Self::last_gesture_direction()`].
@@ -54,7 +55,7 @@ impl OpticalSensor {
 
     /// Sets the pwm value of the White LED. Valid values are in the range `0` `100`.
     pub fn set_led_pwm(&mut self, value: u8) -> Result<(), OpticalError> {
-        if value > MAX_LED_PWM {
+        if value > Self::MAX_LED_PWM {
             return Err(OpticalError::InvalidLedPwm);
         }
         unsafe {
@@ -86,7 +87,7 @@ impl OpticalSensor {
     /// https://www.vexforum.com/t/v5-optical-sensor-refresh-rate/109632/9 for
     /// more information.
     pub fn set_integration_time(&mut self, time: Duration) -> Result<(), OpticalError> {
-        if time < MIN_INTEGRATION_TIME || time > MAX_INTEGRATION_TIME {
+        if time < Self::MIN_INTEGRATION_TIME || time > Self::MAX_INTEGRATION_TIME {
             return Err(OpticalError::InvalidIntegrationTime);
         }
 

From 38ecca9caf018cefc08d2254cc989d5181b19521 Mon Sep 17 00:00:00 2001
From: Tropical <42101043+Tropix126@users.noreply.github.com>
Date: Thu, 29 Feb 2024 21:20:05 -0600
Subject: [PATCH 54/96] docs: changelog

---
 CHANGELOG.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index ca82973d..57b7d21e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -56,6 +56,8 @@ Before releasing:
 - 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).
 
 ### Removed
 

From d6844889572cac3ac8d1ee7f545d0d12680601c5 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sun, 4 Feb 2024 02:00:41 -0800
Subject: [PATCH 55/96] refactor: split pros-rs into multiple smaller subcrates

---
 packages/pros-async/Cargo.toml                |  14 +
 .../src/async_runtime/executor.rs             |   2 +-
 .../src/async_runtime/mod.rs                  |   0
 .../src/async_runtime/reactor.rs              |   0
 packages/pros-async/src/lib.rs                | 182 ++++++++
 packages/pros-core/Cargo.toml                 |  17 +
 .../{pros => pros-core}/src/competition.rs    |   2 +-
 packages/{pros => pros-core}/src/error.rs     |  11 +-
 .../print_impl.rs => pros-core/src/io/mod.rs} |  18 +-
 packages/pros-core/src/lib.rs                 |   9 +
 packages/pros-core/src/pros_alloc/mod.rs      |   4 +
 .../src/pros_alloc/vexos.rs}                  |   0
 .../src/pros_alloc/wasm.rs}                   |   5 -
 packages/{pros => pros-core}/src/time.rs      |   0
 packages/pros-devices/Cargo.toml              |  15 +
 .../src}/adi/analog.rs                        |   2 +-
 .../src}/adi/digital.rs                       |   2 +-
 .../src}/adi/encoder.rs                       |   2 +-
 .../devices => pros-devices/src}/adi/gyro.rs  |   2 +-
 .../src}/adi/linetracker.rs                   |   2 +-
 .../devices => pros-devices/src}/adi/mod.rs   |   5 +-
 .../devices => pros-devices/src}/adi/motor.rs |   2 +-
 .../src}/adi/potentiometer.rs                 |   2 +-
 .../devices => pros-devices/src}/adi/pwm.rs   |   0
 .../src}/adi/solenoid.rs                      |   2 +-
 .../src}/adi/switch.rs                        |   2 +-
 .../src}/adi/ultrasonic.rs                    |   2 +-
 .../devices => pros-devices/src}/battery.rs   |   3 +-
 packages/{pros => pros-devices}/src/color.rs  |   0
 .../src}/controller.rs                        |   3 +-
 .../mod.rs => pros-devices/src/lib.rs}        |   7 +
 .../src}/peripherals.rs                       |   2 +-
 .../devices => pros-devices/src}/position.rs  |   0
 .../devices => pros-devices/src}/screen.rs    |   8 +-
 .../src}/smart/distance.rs                    |   2 +-
 .../src}/smart/expander.rs                    |   2 +-
 .../devices => pros-devices/src}/smart/gps.rs |   2 +-
 .../devices => pros-devices/src}/smart/imu.rs |  10 +-
 .../src}/smart/link.rs                        |   4 +-
 .../devices => pros-devices/src}/smart/mod.rs |   3 +-
 .../src}/smart/motor.rs                       |   8 +-
 .../src}/smart/optical.rs                     |   2 +-
 .../src}/smart/rotation.rs                    |   6 +-
 .../src}/smart/vision.rs                      |   6 +-
 packages/{pros => pros-devices}/src/usd.rs    |   0
 packages/pros-math/Cargo.toml                 |   9 +
 packages/pros-math/src/lib.rs                 |   4 +
 packages/{pros => pros-math}/src/pid.rs       |   0
 packages/pros-panic/Cargo.toml                |  17 +
 .../src/panic.rs => pros-panic/src/lib.rs}    |  19 +-
 packages/pros-sync/Cargo.toml                 |  15 +
 packages/pros-sync/src/lib.rs                 | 143 +++++++
 packages/{pros => pros-sync}/src/sync.rs      |   2 +-
 .../{pros => pros-sync}/src/task/local.rs     |   0
 packages/{pros => pros-sync}/src/task/mod.rs  |  42 +-
 packages/pros/Cargo.toml                      |  32 +-
 packages/pros/examples/basic.rs               |   2 +-
 packages/pros/src/feedforward.rs              |  59 ---
 packages/pros/src/io/mod.rs                   |   7 -
 packages/pros/src/lib.rs                      | 397 +++---------------
 60 files changed, 588 insertions(+), 532 deletions(-)
 create mode 100644 packages/pros-async/Cargo.toml
 rename packages/{pros => pros-async}/src/async_runtime/executor.rs (98%)
 rename packages/{pros => pros-async}/src/async_runtime/mod.rs (100%)
 rename packages/{pros => pros-async}/src/async_runtime/reactor.rs (100%)
 create mode 100644 packages/pros-async/src/lib.rs
 create mode 100644 packages/pros-core/Cargo.toml
 rename packages/{pros => pros-core}/src/competition.rs (99%)
 rename packages/{pros => pros-core}/src/error.rs (93%)
 rename packages/{pros/src/io/print_impl.rs => pros-core/src/io/mod.rs} (92%)
 create mode 100644 packages/pros-core/src/lib.rs
 create mode 100644 packages/pros-core/src/pros_alloc/mod.rs
 rename packages/{pros/src/vexos_env.rs => pros-core/src/pros_alloc/vexos.rs} (100%)
 rename packages/{pros/src/wasm_env.rs => pros-core/src/pros_alloc/wasm.rs} (91%)
 rename packages/{pros => pros-core}/src/time.rs (100%)
 create mode 100644 packages/pros-devices/Cargo.toml
 rename packages/{pros/src/devices => pros-devices/src}/adi/analog.rs (99%)
 rename packages/{pros/src/devices => pros-devices/src}/adi/digital.rs (99%)
 rename packages/{pros/src/devices => pros-devices/src}/adi/encoder.rs (98%)
 rename packages/{pros/src/devices => pros-devices/src}/adi/gyro.rs (98%)
 rename packages/{pros/src/devices => pros-devices/src}/adi/linetracker.rs (99%)
 rename packages/{pros/src/devices => pros-devices/src}/adi/mod.rs (98%)
 rename packages/{pros/src/devices => pros-devices/src}/adi/motor.rs (98%)
 rename packages/{pros/src/devices => pros-devices/src}/adi/potentiometer.rs (98%)
 rename packages/{pros/src/devices => pros-devices/src}/adi/pwm.rs (100%)
 rename packages/{pros/src/devices => pros-devices/src}/adi/solenoid.rs (99%)
 rename packages/{pros/src/devices => pros-devices/src}/adi/switch.rs (99%)
 rename packages/{pros/src/devices => pros-devices/src}/adi/ultrasonic.rs (98%)
 rename packages/{pros/src/devices => pros-devices/src}/battery.rs (96%)
 rename packages/{pros => pros-devices}/src/color.rs (100%)
 rename packages/{pros/src/devices => pros-devices/src}/controller.rs (99%)
 rename packages/{pros/src/devices/mod.rs => pros-devices/src/lib.rs} (91%)
 rename packages/{pros/src/devices => pros-devices/src}/peripherals.rs (99%)
 rename packages/{pros/src/devices => pros-devices/src}/position.rs (100%)
 rename packages/{pros/src/devices => pros-devices/src}/screen.rs (99%)
 rename packages/{pros/src/devices => pros-devices/src}/smart/distance.rs (97%)
 rename packages/{pros/src/devices => pros-devices/src}/smart/expander.rs (98%)
 rename packages/{pros/src/devices => pros-devices/src}/smart/gps.rs (98%)
 rename packages/{pros/src/devices => pros-devices/src}/smart/imu.rs (99%)
 rename packages/{pros/src/devices => pros-devices/src}/smart/link.rs (98%)
 rename packages/{pros/src/devices => pros-devices/src}/smart/mod.rs (99%)
 rename packages/{pros/src/devices => pros-devices/src}/smart/motor.rs (98%)
 rename packages/{pros/src/devices => pros-devices/src}/smart/optical.rs (99%)
 rename packages/{pros/src/devices => pros-devices/src}/smart/rotation.rs (97%)
 rename packages/{pros/src/devices => pros-devices/src}/smart/vision.rs (98%)
 rename packages/{pros => pros-devices}/src/usd.rs (100%)
 create mode 100644 packages/pros-math/Cargo.toml
 create mode 100644 packages/pros-math/src/lib.rs
 rename packages/{pros => pros-math}/src/pid.rs (100%)
 create mode 100644 packages/pros-panic/Cargo.toml
 rename packages/{pros/src/panic.rs => pros-panic/src/lib.rs} (68%)
 create mode 100644 packages/pros-sync/Cargo.toml
 create mode 100644 packages/pros-sync/src/lib.rs
 rename packages/{pros => pros-sync}/src/sync.rs (99%)
 rename packages/{pros => pros-sync}/src/task/local.rs (100%)
 rename packages/{pros => pros-sync}/src/task/mod.rs (90%)
 delete mode 100644 packages/pros/src/feedforward.rs
 delete mode 100644 packages/pros/src/io/mod.rs

diff --git a/packages/pros-async/Cargo.toml b/packages/pros-async/Cargo.toml
new file mode 100644
index 00000000..7e5d3e73
--- /dev/null
+++ b/packages/pros-async/Cargo.toml
@@ -0,0 +1,14 @@
+[package]
+name = "pros-async"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+futures = { version = "0.3.28", default-features = false, features = ["alloc"] }
+async-task = { version = "4.5.0", default-features = false }
+pros-core = { version = "0.1.0", path = "../pros-core" }
+waker-fn = "1.1.1"
+pros-sys = { version = "0.6.0", path = "../pros-sys" }
+pros-sync = { version = "0.1.0", path = "../pros-sync" }
diff --git a/packages/pros/src/async_runtime/executor.rs b/packages/pros-async/src/async_runtime/executor.rs
similarity index 98%
rename from packages/pros/src/async_runtime/executor.rs
rename to packages/pros-async/src/async_runtime/executor.rs
index 24cfef37..8db68da6 100644
--- a/packages/pros/src/async_runtime/executor.rs
+++ b/packages/pros-async/src/async_runtime/executor.rs
@@ -9,10 +9,10 @@ use core::{
 };
 
 use async_task::{Runnable, Task};
+use pros_sync::{os_task_local, task::delay};
 use waker_fn::waker_fn;
 
 use super::reactor::Reactor;
-use crate::{os_task_local, task::delay};
 
 os_task_local! {
     pub(crate) static EXECUTOR: Executor = Executor::new();
diff --git a/packages/pros/src/async_runtime/mod.rs b/packages/pros-async/src/async_runtime/mod.rs
similarity index 100%
rename from packages/pros/src/async_runtime/mod.rs
rename to packages/pros-async/src/async_runtime/mod.rs
diff --git a/packages/pros/src/async_runtime/reactor.rs b/packages/pros-async/src/async_runtime/reactor.rs
similarity index 100%
rename from packages/pros/src/async_runtime/reactor.rs
rename to packages/pros-async/src/async_runtime/reactor.rs
diff --git a/packages/pros-async/src/lib.rs b/packages/pros-async/src/lib.rs
new file mode 100644
index 00000000..a65e47cd
--- /dev/null
+++ b/packages/pros-async/src/lib.rs
@@ -0,0 +1,182 @@
+#![no_std]
+#![feature(negative_impls)]
+extern crate alloc;
+
+pub mod async_runtime;
+
+use core::{future::Future, task::Poll};
+
+use async_runtime::executor::EXECUTOR;
+use pros_core::error::Result;
+
+/// A future that will complete after the given duration.
+/// Sleep futures that are closer to completion are prioritized to improve accuracy.
+#[derive(Debug)]
+pub struct SleepFuture {
+    target_millis: u32,
+}
+impl Future for SleepFuture {
+    type Output = ();
+
+    fn poll(
+        self: core::pin::Pin<&mut Self>,
+        cx: &mut core::task::Context<'_>,
+    ) -> core::task::Poll<Self::Output> {
+        if self.target_millis < unsafe { pros_sys::millis() } {
+            Poll::Ready(())
+        } else {
+            EXECUTOR.with(|e| {
+                e.reactor
+                    .borrow_mut()
+                    .sleepers
+                    .push(cx.waker().clone(), self.target_millis)
+            });
+            Poll::Pending
+        }
+    }
+}
+
+/// Returns a future that will complete after the given duration.
+pub fn sleep(duration: core::time::Duration) -> SleepFuture {
+    SleepFuture {
+        target_millis: unsafe { pros_sys::millis() + duration.as_millis() as u32 },
+    }
+}
+
+/// A trait for robot code that spins up the pros-rs async executor.
+/// This is the preferred trait to run robot code.
+pub trait AsyncRobot {
+    /// Runs during the operator control period.
+    /// This function may be called more than once.
+    /// For that reason, do not use [`Peripherals::take`](prelude::Peripherals::take) in this function.
+    fn opcontrol(&mut self) -> impl Future<Output = Result> {
+        async { Ok(()) }
+    }
+    /// Runs during the autonomous period.
+    fn auto(&mut self) -> impl Future<Output = Result> {
+        async { Ok(()) }
+    }
+    /// Runs continuously during the disabled period.
+    fn disabled(&mut self) -> impl Future<Output = Result> {
+        async { Ok(()) }
+    }
+    /// Runs once when the competition system is initialized.
+    fn comp_init(&mut self) -> impl Future<Output = Result> {
+        async { Ok(()) }
+    }
+}
+
+#[doc(hidden)]
+#[macro_export]
+macro_rules! __gen_async_exports {
+    ($rbt:ty) => {
+        pub static mut ROBOT: Option<$rbt> = None;
+
+        #[doc(hidden)]
+        #[no_mangle]
+        extern "C" fn opcontrol() {
+            $crate::async_runtime::block_on(<$rbt as $crate::AsyncRobot>::opcontrol(unsafe {
+                ROBOT
+                    .as_mut()
+                    .expect("Expected initialize to run before opcontrol")
+            }))
+            .unwrap();
+        }
+
+        #[doc(hidden)]
+        #[no_mangle]
+        extern "C" fn autonomous() {
+            $crate::async_runtime::block_on(<$rbt as $crate::AsyncRobot>::auto(unsafe {
+                ROBOT
+                    .as_mut()
+                    .expect("Expected initialize to run before auto")
+            }))
+            .unwrap();
+        }
+
+        #[doc(hidden)]
+        #[no_mangle]
+        extern "C" fn disabled() {
+            $crate::async_runtime::block_on(<$rbt as $crate::AsyncRobot>::disabled(unsafe {
+                ROBOT
+                    .as_mut()
+                    .expect("Expected initialize to run before disabled")
+            }))
+            .unwrap();
+        }
+
+        #[doc(hidden)]
+        #[no_mangle]
+        extern "C" fn competition_initialize() {
+            $crate::async_runtime::block_on(<$rbt as $crate::AsyncRobot>::comp_init(unsafe {
+                ROBOT
+                    .as_mut()
+                    .expect("Expected initialize to run before comp_init")
+            }))
+            .unwrap();
+        }
+    };
+}
+
+/// Allows your async robot code to be executed by the pros kernel.
+/// If your robot struct implements Default then you can just supply this macro with its type.
+/// If not, you can supply an expression that returns your robot type to initialize your robot struct.
+/// The code that runs to create your robot struct will run in the initialize function in PROS.
+///
+/// Example of using the macro with a struct that implements Default:
+/// ```rust
+/// use pros::prelude::*;
+/// #[derive(Default)]
+/// struct ExampleRobot;
+/// #[async_trait]
+/// impl AsyncRobot for ExampleRobot {
+///    asnyc fn opcontrol(&mut self) -> pros::Result {
+///       println!("Hello, world!");
+///      Ok(())
+///   }
+/// }
+/// async_robot!(ExampleRobot);
+/// ```
+///
+/// Example of using the macro with a struct that does not implement Default:
+/// ```rust
+/// use pros::prelude::*;
+/// struct ExampleRobot {
+///    x: i32,
+/// }
+/// #[async_trait]
+/// impl AsyncRobot for ExampleRobot {
+///     async fn opcontrol(&mut self) -> pros::Result {
+///         println!("Hello, world! {}", self.x);
+///         Ok(())
+///     }
+/// }
+/// impl ExampleRobot {
+///     pub fn new() -> Self {
+///        Self { x: 5 }
+///    }
+/// }
+/// async_robot!(ExampleRobot, ExampleRobot::new());
+#[macro_export]
+macro_rules! async_robot {
+    ($rbt:ty) => {
+        $crate::__gen_async_exports!($rbt);
+
+        #[no_mangle]
+        extern "C" fn initialize() {
+            unsafe {
+                ROBOT = Some(Default::default());
+            }
+        }
+    };
+    ($rbt:ty, $init:expr) => {
+        $crate::__gen_async_exports!($rbt);
+
+        #[no_mangle]
+        extern "C" fn initialize() {
+            unsafe {
+                ROBOT = Some($init);
+            }
+        }
+    };
+}
diff --git a/packages/pros-core/Cargo.toml b/packages/pros-core/Cargo.toml
new file mode 100644
index 00000000..712f7e04
--- /dev/null
+++ b/packages/pros-core/Cargo.toml
@@ -0,0 +1,17 @@
+[package]
+name = "pros-core"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+pros-sys = { version = "0.6.0", path = "../pros-sys" }
+no_std_io = { version = "0.6.0", features = ["alloc"] }
+snafu = { version = "0.8.0", default-features = false, features = [
+    "rust_1_61",
+    "unstable-core-error",
+] }
+
+[target.'cfg(target_arch = "wasm32")'.dependencies]
+dlmalloc = { version = "0.2.4", features = ["global"] }
diff --git a/packages/pros/src/competition.rs b/packages/pros-core/src/competition.rs
similarity index 99%
rename from packages/pros/src/competition.rs
rename to packages/pros-core/src/competition.rs
index 7c006d1e..089b830b 100644
--- a/packages/pros/src/competition.rs
+++ b/packages/pros-core/src/competition.rs
@@ -1,5 +1,5 @@
 //! Utilities for getting what state of the competition the robot is in.
-//!
+
 use pros_sys::misc::{COMPETITION_AUTONOMOUS, COMPETITION_CONNECTED, COMPETITION_DISABLED};
 
 // TODO: change this to use PROS' internal version once we switch to PROS 4.
diff --git a/packages/pros/src/error.rs b/packages/pros-core/src/error.rs
similarity index 93%
rename from packages/pros/src/error.rs
rename to packages/pros-core/src/error.rs
index 4d0dd7bb..2cf9065d 100644
--- a/packages/pros/src/error.rs
+++ b/packages/pros-core/src/error.rs
@@ -5,7 +5,10 @@
 //!
 //! Most of the contents of this file are not public.
 
-pub(crate) fn take_errno() -> i32 {
+/// A result type that makes returning errors easier.
+pub type Result<T = ()> = core::result::Result<T, alloc::boxed::Box<dyn core::error::Error>>;
+
+pub fn take_errno() -> i32 {
     let err = unsafe { *pros_sys::__errno() };
     if err != 0 {
         unsafe { *pros_sys::__errno() = 0 };
@@ -24,6 +27,7 @@ pub(crate) fn take_errno() -> i32 {
 ///     inherit PortError;
 /// }
 /// ```
+#[macro_export]
 macro_rules! map_errno {
     {
         $err_ty:ty { $($errno:pat => $err:expr),*$(,)? }
@@ -49,9 +53,9 @@ macro_rules! map_errno {
         }
     }
 }
-pub(crate) use map_errno;
 
 /// If errno has an error, return early.
+#[macro_export]
 macro_rules! bail_errno {
     () => {{
         let errno = $crate::error::take_errno();
@@ -62,10 +66,10 @@ macro_rules! bail_errno {
         }
     }};
 }
-pub(crate) use bail_errno;
 
 /// Checks if the value is equal to the error state, and if it is,
 /// uses the value of errno to create an error and return early.
+#[macro_export]
 macro_rules! bail_on {
     ($err_state:expr, $val:expr) => {{
         let val = $val;
@@ -79,7 +83,6 @@ macro_rules! bail_on {
         val
     }};
 }
-pub(crate) use bail_on;
 use snafu::Snafu;
 
 /// A trait for converting an errno value into an error type.
diff --git a/packages/pros/src/io/print_impl.rs b/packages/pros-core/src/io/mod.rs
similarity index 92%
rename from packages/pros/src/io/print_impl.rs
rename to packages/pros-core/src/io/mod.rs
index 6932b9f6..5ac209e4 100644
--- a/packages/pros/src/io/print_impl.rs
+++ b/packages/pros-core/src/io/mod.rs
@@ -1,3 +1,5 @@
+//! Std-like I/O macros and types for use in pros.
+//!
 //! Implements `println!`, `eprintln!` and `dbg!` on top of the `pros_sys` crate without requiring
 //! the use of an allocator. (Modified version of `libc_print` crate)
 //!
@@ -9,7 +11,7 @@
 //! Exactly as you'd use `println!`, `eprintln!` and `dbg!`.
 //!
 //! ```rust
-//! # use pros::io::print_impl::*;
+//! # use pros::io::*;
 //! // Use the default ``-prefixed macros:
 //! # fn test1()
 //! # {
@@ -24,7 +26,7 @@
 //! Or you can import aliases to `std` names:
 //!
 //! ```rust
-//! use pros::io::print_impl::{println, eprintln, dbg};
+//! use pros::io::{println, eprintln, dbg};
 //!
 //! # fn test2()
 //! # {
@@ -36,6 +38,10 @@
 //! # }
 //! ```
 
+pub use no_std_io::io::*;
+
+pub use crate::{dbg, eprint, eprintln, print, println};
+
 // libc_print is licensed under the MIT License:
 
 // Copyright (c) 2023 Matt Mastracci and contributors
@@ -135,7 +141,7 @@ macro_rules! println {
         {
             #[allow(unused_must_use)]
             {
-                let mut stm = $crate::io::print_impl::__SerialWriter::new(false);
+                let mut stm = $crate::io::__SerialWriter::new(false);
                 stm.write_fmt(format_args!($($arg)*));
                 stm.write_nl();
             }
@@ -155,7 +161,7 @@ macro_rules! print {
         {
             #[allow(unused_must_use)]
             {
-                let mut stm = $crate::io::print_impl::__SerialWriter::new(false);
+                let mut stm = $crate::io::__SerialWriter::new(false);
                 stm.write_fmt(format_args!($($arg)*));
             }
         }
@@ -175,7 +181,7 @@ macro_rules! eprintln {
         {
             #[allow(unused_must_use)]
             {
-                let mut stm = $crate::io::print_impl::__SerialWriter::new(true);
+                let mut stm = $crate::io::__SerialWriter::new(true);
                 stm.write_fmt(format_args!($($arg)*));
                 stm.write_nl();
             }
@@ -195,7 +201,7 @@ macro_rules! eprint {
         {
             #[allow(unused_must_use)]
             {
-                let mut stm = $crate::io::print_impl::__SerialWriter::new(true);
+                let mut stm = $crate::io::__SerialWriter::new(true);
                 stm.write_fmt(format_args!($($arg)*));
             }
         }
diff --git a/packages/pros-core/src/lib.rs b/packages/pros-core/src/lib.rs
new file mode 100644
index 00000000..b61ed55d
--- /dev/null
+++ b/packages/pros-core/src/lib.rs
@@ -0,0 +1,9 @@
+#![no_std]
+#![feature(error_in_core)]
+extern crate alloc;
+
+pub mod pros_alloc;
+pub mod error;
+pub mod io;
+pub mod time;
+pub mod competition;
diff --git a/packages/pros-core/src/pros_alloc/mod.rs b/packages/pros-core/src/pros_alloc/mod.rs
new file mode 100644
index 00000000..7eed7108
--- /dev/null
+++ b/packages/pros-core/src/pros_alloc/mod.rs
@@ -0,0 +1,4 @@
+#[cfg(target_os = "vexos")]
+mod vexos;
+#[cfg(target_arch = "wasm32")]
+mod wasm;
diff --git a/packages/pros/src/vexos_env.rs b/packages/pros-core/src/pros_alloc/vexos.rs
similarity index 100%
rename from packages/pros/src/vexos_env.rs
rename to packages/pros-core/src/pros_alloc/vexos.rs
diff --git a/packages/pros/src/wasm_env.rs b/packages/pros-core/src/pros_alloc/wasm.rs
similarity index 91%
rename from packages/pros/src/wasm_env.rs
rename to packages/pros-core/src/pros_alloc/wasm.rs
index e9a48d59..5fabbe9f 100644
--- a/packages/pros/src/wasm_env.rs
+++ b/packages/pros-core/src/pros_alloc/wasm.rs
@@ -12,11 +12,6 @@ use dlmalloc::GlobalDlmalloc;
 // no multithreading in wasm
 static mut LAYOUTS: BTreeMap<*mut u8, Layout> = BTreeMap::new();
 
-extern "C" {
-    /// Prints a backtrace to the debug console
-    pub fn sim_log_backtrace();
-}
-
 #[no_mangle]
 extern "C" fn wasm_memalign(alignment: usize, size: usize) -> *mut u8 {
     if size == 0 {
diff --git a/packages/pros/src/time.rs b/packages/pros-core/src/time.rs
similarity index 100%
rename from packages/pros/src/time.rs
rename to packages/pros-core/src/time.rs
diff --git a/packages/pros-devices/Cargo.toml b/packages/pros-devices/Cargo.toml
new file mode 100644
index 00000000..c9819c33
--- /dev/null
+++ b/packages/pros-devices/Cargo.toml
@@ -0,0 +1,15 @@
+[package]
+name = "pros-devices"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+pros-core = { verion = "0.1.0", path = "../pros-core" }
+pros-sys = { path = "../pros-sys", version = "0.6.0", features = ["xapi"] }
+snafu = { version = "0.8.0", default-features = false, features = [
+    "rust_1_61",
+    "unstable-core-error",
+] }
+no_std_io = { version = "0.6.0", features = ["alloc"] }
diff --git a/packages/pros/src/devices/adi/analog.rs b/packages/pros-devices/src/adi/analog.rs
similarity index 99%
rename from packages/pros/src/devices/adi/analog.rs
rename to packages/pros-devices/src/adi/analog.rs
index 3107dd8b..104bbd05 100644
--- a/packages/pros/src/devices/adi/analog.rs
+++ b/packages/pros-devices/src/adi/analog.rs
@@ -11,7 +11,7 @@
 use pros_sys::PROS_ERR;
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use crate::error::bail_on;
+use pros_core::bail_on;
 
 /// Generic analog input ADI device.
 #[derive(Debug, Eq, PartialEq)]
diff --git a/packages/pros/src/devices/adi/digital.rs b/packages/pros-devices/src/adi/digital.rs
similarity index 99%
rename from packages/pros/src/devices/adi/digital.rs
rename to packages/pros-devices/src/adi/digital.rs
index e695a4ce..bf33bcb7 100644
--- a/packages/pros/src/devices/adi/digital.rs
+++ b/packages/pros-devices/src/adi/digital.rs
@@ -3,7 +3,7 @@
 use pros_sys::PROS_ERR;
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use crate::error::bail_on;
+use pros_core::bail_on;
 
 /// Represents the logic level of a digital pin.
 ///
diff --git a/packages/pros/src/devices/adi/encoder.rs b/packages/pros-devices/src/adi/encoder.rs
similarity index 98%
rename from packages/pros/src/devices/adi/encoder.rs
rename to packages/pros-devices/src/adi/encoder.rs
index e9f0816a..aa3520eb 100644
--- a/packages/pros/src/devices/adi/encoder.rs
+++ b/packages/pros-devices/src/adi/encoder.rs
@@ -3,7 +3,7 @@
 use pros_sys::{ext_adi_encoder_t, PROS_ERR};
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use crate::error::bail_on;
+use pros_core::bail_on;
 
 /// ADI encoder device.
 /// Requires two adi ports.
diff --git a/packages/pros/src/devices/adi/gyro.rs b/packages/pros-devices/src/adi/gyro.rs
similarity index 98%
rename from packages/pros/src/devices/adi/gyro.rs
rename to packages/pros-devices/src/adi/gyro.rs
index 632a6c47..d7cae9a5 100644
--- a/packages/pros/src/devices/adi/gyro.rs
+++ b/packages/pros-devices/src/adi/gyro.rs
@@ -5,7 +5,7 @@ use core::time::Duration;
 use pros_sys::{ext_adi_gyro_t, PROS_ERR, PROS_ERR_F};
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use crate::error::bail_on;
+use pros_core::bail_on;
 
 /// ADI gyro device.
 #[derive(Debug, Eq, PartialEq)]
diff --git a/packages/pros/src/devices/adi/linetracker.rs b/packages/pros-devices/src/adi/linetracker.rs
similarity index 99%
rename from packages/pros/src/devices/adi/linetracker.rs
rename to packages/pros-devices/src/adi/linetracker.rs
index 3f677779..4a80cdf3 100644
--- a/packages/pros/src/devices/adi/linetracker.rs
+++ b/packages/pros-devices/src/adi/linetracker.rs
@@ -26,7 +26,7 @@
 use pros_sys::PROS_ERR;
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use crate::error::bail_on;
+use pros_core::bail_on;
 
 /// Analog line tracker device.
 #[derive(Debug, Eq, PartialEq)]
diff --git a/packages/pros/src/devices/adi/mod.rs b/packages/pros-devices/src/adi/mod.rs
similarity index 98%
rename from packages/pros/src/devices/adi/mod.rs
rename to packages/pros-devices/src/adi/mod.rs
index 6eff690a..527e2861 100644
--- a/packages/pros/src/devices/adi/mod.rs
+++ b/packages/pros-devices/src/adi/mod.rs
@@ -1,10 +1,9 @@
 //! ADI (Triport) devices on the Vex V5.
 
-use pros_sys::{adi_port_config_e_t, E_ADI_ERR, PROS_ERR};
+use pros_core::{bail_on, map_errno, error::PortError};
+use pros_sys::{adi_port_config_e_t, PROS_ERR, E_ADI_ERR,};
 use snafu::Snafu;
 
-use crate::error::{bail_on, map_errno, PortError};
-
 //TODO: much more in depth module documentation for device modules as well as this module.
 pub mod analog;
 pub mod digital;
diff --git a/packages/pros/src/devices/adi/motor.rs b/packages/pros-devices/src/adi/motor.rs
similarity index 98%
rename from packages/pros/src/devices/adi/motor.rs
rename to packages/pros-devices/src/adi/motor.rs
index 9eb20fd8..ba1ba842 100644
--- a/packages/pros/src/devices/adi/motor.rs
+++ b/packages/pros-devices/src/adi/motor.rs
@@ -3,7 +3,7 @@
 use pros_sys::PROS_ERR;
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use crate::error::bail_on;
+use pros_core::bail_on;
 
 #[derive(Debug, Eq, PartialEq)]
 /// Cortex era motor device.
diff --git a/packages/pros/src/devices/adi/potentiometer.rs b/packages/pros-devices/src/adi/potentiometer.rs
similarity index 98%
rename from packages/pros/src/devices/adi/potentiometer.rs
rename to packages/pros-devices/src/adi/potentiometer.rs
index 433d1677..ee0caa13 100644
--- a/packages/pros/src/devices/adi/potentiometer.rs
+++ b/packages/pros-devices/src/adi/potentiometer.rs
@@ -3,7 +3,7 @@
 use pros_sys::{adi_potentiometer_type_e_t, ext_adi_potentiometer_t, PROS_ERR, PROS_ERR_F};
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use crate::error::bail_on;
+use pros_core::bail_on;
 
 #[derive(Debug, Eq, PartialEq)]
 /// Analog potentiometer ADI device.
diff --git a/packages/pros/src/devices/adi/pwm.rs b/packages/pros-devices/src/adi/pwm.rs
similarity index 100%
rename from packages/pros/src/devices/adi/pwm.rs
rename to packages/pros-devices/src/adi/pwm.rs
diff --git a/packages/pros/src/devices/adi/solenoid.rs b/packages/pros-devices/src/adi/solenoid.rs
similarity index 99%
rename from packages/pros/src/devices/adi/solenoid.rs
rename to packages/pros-devices/src/adi/solenoid.rs
index d6152a51..0856959d 100644
--- a/packages/pros/src/devices/adi/solenoid.rs
+++ b/packages/pros-devices/src/adi/solenoid.rs
@@ -3,7 +3,7 @@
 use pros_sys::PROS_ERR;
 
 use super::{digital::LogicLevel, AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use crate::error::bail_on;
+use pros_core::bail_on;
 
 /// Digital pneumatic solenoid valve.
 #[derive(Debug, Eq, PartialEq)]
diff --git a/packages/pros/src/devices/adi/switch.rs b/packages/pros-devices/src/adi/switch.rs
similarity index 99%
rename from packages/pros/src/devices/adi/switch.rs
rename to packages/pros-devices/src/adi/switch.rs
index 15d824ac..d8e198fa 100644
--- a/packages/pros/src/devices/adi/switch.rs
+++ b/packages/pros-devices/src/adi/switch.rs
@@ -3,7 +3,7 @@
 use pros_sys::PROS_ERR;
 
 use super::{digital::LogicLevel, AdiDevice, AdiDeviceType, AdiDigitalIn, AdiError, AdiPort};
-use crate::error::bail_on;
+use pros_core::bail_on;
 
 /// Generic digital input ADI device.
 #[derive(Debug, Eq, PartialEq)]
diff --git a/packages/pros/src/devices/adi/ultrasonic.rs b/packages/pros-devices/src/adi/ultrasonic.rs
similarity index 98%
rename from packages/pros/src/devices/adi/ultrasonic.rs
rename to packages/pros-devices/src/adi/ultrasonic.rs
index f8710cfb..27b74e2a 100644
--- a/packages/pros/src/devices/adi/ultrasonic.rs
+++ b/packages/pros-devices/src/adi/ultrasonic.rs
@@ -3,7 +3,7 @@
 use pros_sys::{ext_adi_ultrasonic_t, PROS_ERR};
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use crate::error::bail_on;
+use pros_core::bail_on;
 
 #[derive(Debug, Eq, PartialEq)]
 /// Adi ultrasonic sensor.
diff --git a/packages/pros/src/devices/battery.rs b/packages/pros-devices/src/battery.rs
similarity index 96%
rename from packages/pros/src/devices/battery.rs
rename to packages/pros-devices/src/battery.rs
index f209bcef..ebb02ce4 100644
--- a/packages/pros/src/devices/battery.rs
+++ b/packages/pros-devices/src/battery.rs
@@ -1,10 +1,9 @@
 //! Utilites for getting information about the robot's battery.
 
+use pros_core::{bail_on, map_errno};
 use pros_sys::{PROS_ERR, PROS_ERR_F};
 use snafu::Snafu;
 
-use crate::error::{bail_on, map_errno};
-
 /// Get the robot's battery capacity.
 pub fn capacity() -> Result<f64, BatteryError> {
     Ok(bail_on!(PROS_ERR_F, unsafe {
diff --git a/packages/pros/src/color.rs b/packages/pros-devices/src/color.rs
similarity index 100%
rename from packages/pros/src/color.rs
rename to packages/pros-devices/src/color.rs
diff --git a/packages/pros/src/devices/controller.rs b/packages/pros-devices/src/controller.rs
similarity index 99%
rename from packages/pros/src/devices/controller.rs
rename to packages/pros-devices/src/controller.rs
index f3c946de..ba06b0b8 100644
--- a/packages/pros/src/devices/controller.rs
+++ b/packages/pros-devices/src/controller.rs
@@ -5,11 +5,10 @@
 
 use alloc::{ffi::CString, vec::Vec};
 
+use pros_core::{bail_on, map_errno};
 use pros_sys::{controller_id_e_t, PROS_ERR};
 use snafu::Snafu;
 
-use crate::error::{bail_on, map_errno};
-
 /// Holds whether or not the buttons on the controller are pressed or not
 #[derive(Default, Debug, Clone, Copy, Eq, PartialEq)]
 pub struct Buttons {
diff --git a/packages/pros/src/devices/mod.rs b/packages/pros-devices/src/lib.rs
similarity index 91%
rename from packages/pros/src/devices/mod.rs
rename to packages/pros-devices/src/lib.rs
index 700a576f..ed852c77 100644
--- a/packages/pros/src/devices/mod.rs
+++ b/packages/pros-devices/src/lib.rs
@@ -17,6 +17,9 @@
 //!   battery.
 //! - [`devices::controller`] provides types for interacting with the V5 controller.
 
+#![no_std]
+extern crate alloc;
+
 pub mod adi;
 pub mod smart;
 
@@ -25,6 +28,10 @@ pub mod controller;
 pub mod peripherals;
 pub mod position;
 pub mod screen;
+pub mod usd;
+
+//TODO: find a better place to put this
+pub mod color;
 
 pub use controller::Controller;
 pub use position::Position;
diff --git a/packages/pros/src/devices/peripherals.rs b/packages/pros-devices/src/peripherals.rs
similarity index 99%
rename from packages/pros/src/devices/peripherals.rs
rename to packages/pros-devices/src/peripherals.rs
index 8029845b..8d9733f6 100644
--- a/packages/pros/src/devices/peripherals.rs
+++ b/packages/pros-devices/src/peripherals.rs
@@ -24,7 +24,7 @@
 
 use core::sync::atomic::AtomicBool;
 
-use crate::devices::{adi::AdiPort, screen::Screen, smart::SmartPort};
+use crate::{adi::AdiPort, screen::Screen, smart::SmartPort};
 
 static PERIPHERALS_TAKEN: AtomicBool = AtomicBool::new(false);
 
diff --git a/packages/pros/src/devices/position.rs b/packages/pros-devices/src/position.rs
similarity index 100%
rename from packages/pros/src/devices/position.rs
rename to packages/pros-devices/src/position.rs
diff --git a/packages/pros/src/devices/screen.rs b/packages/pros-devices/src/screen.rs
similarity index 99%
rename from packages/pros/src/devices/screen.rs
rename to packages/pros-devices/src/screen.rs
index 4346392e..29b069d9 100644
--- a/packages/pros/src/devices/screen.rs
+++ b/packages/pros-devices/src/screen.rs
@@ -5,13 +5,11 @@
 
 use alloc::{ffi::CString, string::String, vec::Vec};
 
+use pros_core::{bail_on, map_errno};
 use pros_sys::PROS_ERR;
 use snafu::Snafu;
 
-use crate::{
-    color::{IntoRgb, Rgb},
-    error::{bail_on, map_errno},
-};
+use crate::color::{IntoRgb, Rgb};
 
 #[derive(Debug, Eq, PartialEq)]
 /// Represents the physical display on the V5 Brain.
@@ -482,7 +480,7 @@ impl Screen {
     ///
     /// This function is internally used by the pros-rs panic handler for displaying
     /// panic messages graphically before exiting.
-    pub(crate) fn draw_error(&mut self, msg: &str) -> Result<(), ScreenError> {
+    pub fn draw_error(&mut self, msg: &str) -> Result<(), ScreenError> {
         const ERROR_BOX_MARGIN: i16 = 16;
         const ERROR_BOX_PADDING: i16 = 16;
         const LINE_MAX_WIDTH: usize = 52;
diff --git a/packages/pros/src/devices/smart/distance.rs b/packages/pros-devices/src/smart/distance.rs
similarity index 97%
rename from packages/pros/src/devices/smart/distance.rs
rename to packages/pros-devices/src/smart/distance.rs
index c81f606c..6cebcf52 100644
--- a/packages/pros/src/devices/smart/distance.rs
+++ b/packages/pros-devices/src/smart/distance.rs
@@ -7,7 +7,7 @@ use core::ffi::c_double;
 use pros_sys::PROS_ERR;
 
 use super::{SmartDevice, SmartDeviceType, SmartPort};
-use crate::error::{bail_on, PortError};
+use pros_core::{bail_on, error::PortError};
 
 /// A physical distance sensor plugged into a port.
 /// Distance sensors can only keep track of one object at a time.
diff --git a/packages/pros/src/devices/smart/expander.rs b/packages/pros-devices/src/smart/expander.rs
similarity index 98%
rename from packages/pros/src/devices/smart/expander.rs
rename to packages/pros-devices/src/smart/expander.rs
index 3ea2ef3a..df4d26dc 100644
--- a/packages/pros/src/devices/smart/expander.rs
+++ b/packages/pros-devices/src/smart/expander.rs
@@ -5,7 +5,7 @@
 //! This is because they require a [`SmartPort`] to be created which can only be created without either peripherals struct unsafely.
 
 use super::{SmartDevice, SmartDeviceType, SmartPort};
-use crate::devices::adi::AdiPort;
+use crate::adi::AdiPort;
 
 /// Represents an ADI expander module plugged into a smart port.
 ///
diff --git a/packages/pros/src/devices/smart/gps.rs b/packages/pros-devices/src/smart/gps.rs
similarity index 98%
rename from packages/pros/src/devices/smart/gps.rs
rename to packages/pros-devices/src/smart/gps.rs
index 3f3dd2fd..a00cb18d 100644
--- a/packages/pros/src/devices/smart/gps.rs
+++ b/packages/pros-devices/src/smart/gps.rs
@@ -7,7 +7,7 @@ use pros_sys::{PROS_ERR, PROS_ERR_F};
 use snafu::Snafu;
 
 use super::{SmartDevice, SmartDeviceType, SmartPort};
-use crate::error::{bail_on, map_errno, PortError};
+use pros_core::{bail_on, map_errno, error::PortError};
 
 //TODO: Figure out what all the units are
 #[derive(Default, Debug, Clone, Copy, PartialEq)]
diff --git a/packages/pros/src/devices/smart/imu.rs b/packages/pros-devices/src/smart/imu.rs
similarity index 99%
rename from packages/pros/src/devices/smart/imu.rs
rename to packages/pros-devices/src/smart/imu.rs
index 519d5a75..fb3b367d 100644
--- a/packages/pros/src/devices/smart/imu.rs
+++ b/packages/pros-devices/src/smart/imu.rs
@@ -6,14 +6,16 @@ use core::{
     time::Duration,
 };
 
+use pros_core::{
+    bail_on,
+    error::{take_errno, FromErrno, PortError},
+    map_errno,
+    time::Instant,
+};
 use pros_sys::{PROS_ERR, PROS_ERR_F};
 use snafu::Snafu;
 
 use super::{SmartDevice, SmartDeviceType, SmartPort};
-use crate::{
-    error::{bail_on, map_errno, take_errno, FromErrno, PortError},
-    time::Instant,
-};
 
 /// Represents a smart port configured as a V5 inertial sensor (IMU)
 #[derive(Debug, Eq, PartialEq)]
diff --git a/packages/pros/src/devices/smart/link.rs b/packages/pros-devices/src/smart/link.rs
similarity index 98%
rename from packages/pros/src/devices/smart/link.rs
rename to packages/pros-devices/src/smart/link.rs
index 8ea262a9..1a34003c 100644
--- a/packages/pros/src/devices/smart/link.rs
+++ b/packages/pros-devices/src/smart/link.rs
@@ -7,11 +7,11 @@ use alloc::{ffi::CString, string::String};
 use core::ffi::CStr;
 
 use no_std_io::io;
+use pros_core::{bail_errno, bail_on, map_errno, error::{ FromErrno, PortError }};
 use pros_sys::{link_receive, link_transmit, E_LINK_RECEIVER, E_LINK_TRANSMITTER};
 use snafu::Snafu;
 
 use super::{SmartDevice, SmartDeviceType, SmartPort};
-use crate::error::{bail_errno, bail_on, map_errno, FromErrno, PortError};
 
 /// Types that implement Link can be used to send data to another robot over VEXLink.
 pub trait Link: SmartDevice {
@@ -148,7 +148,7 @@ impl TxLink {
 
         match unsafe { link_transmit(self.port.index(), buf.as_ptr().cast(), buf.len() as _) } {
             PROS_ERR_U32 => {
-                let errno = crate::error::take_errno();
+                let errno = pros_core::error::take_errno();
                 Err(FromErrno::from_errno(errno)
                     .unwrap_or_else(|| panic!("Unknown errno code {errno}")))
             }
diff --git a/packages/pros/src/devices/smart/mod.rs b/packages/pros-devices/src/smart/mod.rs
similarity index 99%
rename from packages/pros/src/devices/smart/mod.rs
rename to packages/pros-devices/src/smart/mod.rs
index 772c1ebe..eb591769 100644
--- a/packages/pros/src/devices/smart/mod.rs
+++ b/packages/pros-devices/src/smart/mod.rs
@@ -37,11 +37,10 @@ pub use imu::InertialSensor;
 pub use link::{Link, RxLink, TxLink};
 pub use motor::Motor;
 pub use optical::OpticalSensor;
+use pros_core::{bail_on, error::PortError};
 pub use rotation::RotationSensor;
 pub use vision::VisionSensor;
 
-use crate::{error::bail_on, prelude::PortError};
-
 /// Defines common functionality shared by all smart port devices.
 pub trait SmartDevice {
     /// Get the index of the [`SmartPort`] this device is registered on.
diff --git a/packages/pros/src/devices/smart/motor.rs b/packages/pros-devices/src/smart/motor.rs
similarity index 98%
rename from packages/pros/src/devices/smart/motor.rs
rename to packages/pros-devices/src/smart/motor.rs
index f5bb9959..8eb8421e 100644
--- a/packages/pros/src/devices/smart/motor.rs
+++ b/packages/pros-devices/src/smart/motor.rs
@@ -21,14 +21,12 @@
 //! }
 //! ```
 
+use pros_core::{bail_on, map_errno, error::PortError};
 use pros_sys::{PROS_ERR, PROS_ERR_F};
 use snafu::Snafu;
 
 use super::{SmartDevice, SmartDeviceType, SmartPort};
-use crate::{
-    devices::Position,
-    error::{bail_on, map_errno, PortError},
-};
+use crate::Position;
 
 /// The basic motor struct.
 #[derive(Debug, Eq, PartialEq)]
@@ -348,7 +346,7 @@ pub struct MotorStoppedFuture<'a> {
 }
 
 impl<'a> core::future::Future for MotorStoppedFuture<'a> {
-    type Output = crate::Result;
+    type Output = pros_core::error::Result;
     fn poll(
         self: core::pin::Pin<&mut Self>,
         cx: &mut core::task::Context<'_>,
diff --git a/packages/pros/src/devices/smart/optical.rs b/packages/pros-devices/src/smart/optical.rs
similarity index 99%
rename from packages/pros/src/devices/smart/optical.rs
rename to packages/pros-devices/src/smart/optical.rs
index fe700ab6..4ed513ef 100644
--- a/packages/pros/src/devices/smart/optical.rs
+++ b/packages/pros-devices/src/smart/optical.rs
@@ -6,7 +6,7 @@ use pros_sys::{OPT_GESTURE_ERR, PROS_ERR, PROS_ERR_F};
 use snafu::Snafu;
 
 use super::{SmartDevice, SmartDeviceType, SmartPort};
-use crate::error::{bail_on, map_errno, PortError};
+use pros_core::{bail_on, map_errno, error::PortError};
 
 /// Represents a smart port configured as a V5 optical sensor
 #[derive(Debug, Eq, PartialEq)]
diff --git a/packages/pros/src/devices/smart/rotation.rs b/packages/pros-devices/src/smart/rotation.rs
similarity index 97%
rename from packages/pros/src/devices/smart/rotation.rs
rename to packages/pros-devices/src/smart/rotation.rs
index 0be6e772..2988af2a 100644
--- a/packages/pros/src/devices/smart/rotation.rs
+++ b/packages/pros-devices/src/smart/rotation.rs
@@ -2,13 +2,11 @@
 //!
 //! Rotation sensors operate on the same [`Position`] type as motors to measure rotation.
 
+use pros_core::{bail_on, error::PortError};
 use pros_sys::PROS_ERR;
 
 use super::{SmartDevice, SmartDeviceType, SmartPort};
-use crate::{
-    devices::position::Position,
-    error::{bail_on, PortError},
-};
+use crate::position::Position;
 
 /// A physical rotation sensor plugged into a port.
 #[derive(Debug, Eq, PartialEq)]
diff --git a/packages/pros/src/devices/smart/vision.rs b/packages/pros-devices/src/smart/vision.rs
similarity index 98%
rename from packages/pros/src/devices/smart/vision.rs
rename to packages/pros-devices/src/smart/vision.rs
index f37b8e82..eed7f5b0 100644
--- a/packages/pros/src/devices/smart/vision.rs
+++ b/packages/pros-devices/src/smart/vision.rs
@@ -5,14 +5,12 @@
 extern crate alloc;
 use alloc::vec::Vec;
 
+use pros_core::{bail_errno, bail_on, map_errno, error::PortError};
 use pros_sys::{PROS_ERR, VISION_OBJECT_ERR_SIG};
 use snafu::Snafu;
 
 use super::{SmartDevice, SmartDeviceType, SmartPort};
-use crate::{
-    color::Rgb,
-    error::{bail_errno, bail_on, map_errno, PortError},
-};
+use crate::color::Rgb;
 
 /// Represents a vision sensor plugged into the vex.
 #[derive(Debug, Eq, PartialEq)]
diff --git a/packages/pros/src/usd.rs b/packages/pros-devices/src/usd.rs
similarity index 100%
rename from packages/pros/src/usd.rs
rename to packages/pros-devices/src/usd.rs
diff --git a/packages/pros-math/Cargo.toml b/packages/pros-math/Cargo.toml
new file mode 100644
index 00000000..a51e24af
--- /dev/null
+++ b/packages/pros-math/Cargo.toml
@@ -0,0 +1,9 @@
+[package]
+name = "pros-math"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+pros-sys = { version = "0.6.0", path = "../pros-sys" }
diff --git a/packages/pros-math/src/lib.rs b/packages/pros-math/src/lib.rs
new file mode 100644
index 00000000..4e86cbb6
--- /dev/null
+++ b/packages/pros-math/src/lib.rs
@@ -0,0 +1,4 @@
+#![no_std]
+extern crate alloc;
+
+pub mod pid;
diff --git a/packages/pros/src/pid.rs b/packages/pros-math/src/pid.rs
similarity index 100%
rename from packages/pros/src/pid.rs
rename to packages/pros-math/src/pid.rs
diff --git a/packages/pros-panic/Cargo.toml b/packages/pros-panic/Cargo.toml
new file mode 100644
index 00000000..0e09c218
--- /dev/null
+++ b/packages/pros-panic/Cargo.toml
@@ -0,0 +1,17 @@
+[package]
+name = "pros-panic"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+pros-core = { version = "0.1.0", path = "../pros-core" }
+pros-devices = { version = "0.1.0", path = "../pros-devices", optional = true }
+pros-sys = { version = "0.6.0", path = "../pros-sys" }
+pros-sync = { version = "0.1.0", path = "../pros-sync" }
+
+[features]
+default = ["display_panics"]
+
+display_panics = ["dep:pros-devices"]
diff --git a/packages/pros/src/panic.rs b/packages/pros-panic/src/lib.rs
similarity index 68%
rename from packages/pros/src/panic.rs
rename to packages/pros-panic/src/lib.rs
index ebfb9bd4..46f8e350 100644
--- a/packages/pros/src/panic.rs
+++ b/packages/pros-panic/src/lib.rs
@@ -1,11 +1,17 @@
-//! Panic Handler
-//!
-//! This module contains the internal `#[panic_handler]` used by pros-rs for
-//! dealing with unrecoverable program errors.
+#![no_std]
+extern crate alloc;
 
 use alloc::format;
+use pros_core::eprintln;
+use pros_sync::task;
 
-use crate::{devices::screen::Screen, io::eprintln, task};
+#[cfg(feature = "display_panics")]
+use pros_devices::Screen;
+
+extern "C" {
+    /// Prints a backtrace to the debug console
+    pub fn sim_log_backtrace();
+}
 
 #[panic_handler]
 /// The panic handler for pros-rs.
@@ -21,12 +27,13 @@ pub fn panic(info: &core::panic::PanicInfo<'_>) -> ! {
     eprintln!("{msg}");
 
     unsafe {
+        #[cfg(feature = "display_panics")]
         Screen::new().draw_error(&msg).unwrap_or_else(|err| {
             eprintln!("Failed to draw error message to screen: {err}");
         });
 
         #[cfg(target_arch = "wasm32")]
-        crate::wasm_env::sim_log_backtrace();
+        sim_log_backtrace();
 
         pros_sys::exit(1);
     }
diff --git a/packages/pros-sync/Cargo.toml b/packages/pros-sync/Cargo.toml
new file mode 100644
index 00000000..578fdfc2
--- /dev/null
+++ b/packages/pros-sync/Cargo.toml
@@ -0,0 +1,15 @@
+[package]
+name = "pros-sync"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+pros-core = { version = "0.1.0", path = "../pros-core" }
+pros-sys = { version = "0.6.0", path = "../pros-sys" }
+snafu = { version = "0.8.0", default-features = false, features = [
+    "rust_1_61",
+    "unstable-core-error",
+] }
+spin = "0.9.8"
diff --git a/packages/pros-sync/src/lib.rs b/packages/pros-sync/src/lib.rs
new file mode 100644
index 00000000..f98beb0f
--- /dev/null
+++ b/packages/pros-sync/src/lib.rs
@@ -0,0 +1,143 @@
+#![no_std]
+extern crate alloc;
+
+pub mod sync;
+pub mod task;
+
+use pros_core::error::Result;
+
+/// A trait for robot code that runs without the async executor spun up.
+/// This trait isn't recommended. See [`AsyncRobot`] for the preferred trait to run robot code.
+pub trait SyncRobot {
+    /// Runs during the operator control period.
+    /// This function may be called more than once.
+    /// For that reason, do not use [`Peripherals::take`](prelude::Peripherals::take) in this function.
+    fn opcontrol(&mut self) -> Result {
+        Ok(())
+    }
+    /// Runs during the autonomous period.
+    fn auto(&mut self) -> Result {
+        Ok(())
+    }
+    /// Runs continuously during the disabled period.
+    fn disabled(&mut self) -> Result {
+        Ok(())
+    }
+    /// Runs once when the competition system is initialized.
+    fn comp_init(&mut self) -> Result {
+        Ok(())
+    }
+}
+
+#[doc(hidden)]
+#[macro_export]
+macro_rules! __gen_sync_exports {
+    ($rbt:ty) => {
+        pub static mut ROBOT: Option<$rbt> = None;
+
+        #[doc(hidden)]
+        #[no_mangle]
+        extern "C" fn opcontrol() {
+            <$rbt as $crate::SyncRobot>::opcontrol(unsafe {
+                ROBOT
+                    .as_mut()
+                    .expect("Expected initialize to run before opcontrol")
+            })
+            .unwrap();
+        }
+
+        #[doc(hidden)]
+        #[no_mangle]
+        extern "C" fn autonomous() {
+            <$rbt as $crate::SyncRobot>::auto(unsafe {
+                ROBOT
+                    .as_mut()
+                    .expect("Expected initialize to run before opcontrol")
+            })
+            .unwrap();
+        }
+
+        #[doc(hidden)]
+        #[no_mangle]
+        extern "C" fn disabled() {
+            <$rbt as $crate::SyncRobot>::disabled(unsafe {
+                ROBOT
+                    .as_mut()
+                    .expect("Expected initialize to run before opcontrol")
+            })
+            .unwrap();
+        }
+
+        #[doc(hidden)]
+        #[no_mangle]
+        extern "C" fn competition_initialize() {
+            <$rbt as $crate::SyncRobot>::comp_init(unsafe {
+                ROBOT
+                    .as_mut()
+                    .expect("Expected initialize to run before opcontrol")
+            })
+            .unwrap();
+        }
+    };
+}
+
+/// Allows your sync robot code to be executed by the pros kernel.
+/// If your robot struct implements Default then you can just supply this macro with its type.
+/// If not, you can supply an expression that returns your robot type to initialize your robot struct.
+/// The code that runs to create your robot struct will run in the initialize function in PROS.
+///
+/// Example of using the macro with a struct that implements Default:
+/// ```rust
+/// use pros::prelude::*;
+/// #[derive(Default)]
+/// struct ExampleRobot;
+/// impl SyncRobot for ExampleRobot {
+///    asnyc fn opcontrol(&mut self) -> pros::Result {
+///       println!("Hello, world!");
+///      Ok(())
+///   }
+/// }
+/// sync_robot!(ExampleRobot);
+/// ```
+///
+/// Example of using the macro with a struct that does not implement Default:
+/// ```rust
+/// use pros::prelude::*;
+/// struct ExampleRobot {
+///    x: i32,
+/// }
+/// impl SyncRobot for ExampleRobot {
+///     async fn opcontrol(&mut self) -> pros::Result {
+///         println!("Hello, world! {}", self.x);
+///         Ok(())
+///     }
+/// }
+/// impl ExampleRobot {
+///     pub fn new() -> Self {
+///        Self { x: 5 }
+///    }
+/// }
+/// sync_robot!(ExampleRobot, ExampleRobot::new());
+#[macro_export]
+macro_rules! sync_robot {
+    ($rbt:ty) => {
+        $crate::__gen_sync_exports!($rbt);
+
+        #[no_mangle]
+        extern "C" fn initialize() {
+            unsafe {
+                ROBOT = Some(Default::default());
+            }
+        }
+    };
+    ($rbt:ty, $init:expr) => {
+        $crate::__gen_sync_exports!($rbt);
+
+        #[no_mangle]
+        extern "C" fn initialize() {
+            unsafe {
+                ROBOT = Some($init);
+            }
+        }
+    };
+}
diff --git a/packages/pros/src/sync.rs b/packages/pros-sync/src/sync.rs
similarity index 99%
rename from packages/pros/src/sync.rs
rename to packages/pros-sync/src/sync.rs
index 7233996e..62afec98 100644
--- a/packages/pros/src/sync.rs
+++ b/packages/pros-sync/src/sync.rs
@@ -4,7 +4,7 @@
 
 use core::{cell::UnsafeCell, fmt::Debug, mem};
 
-use crate::error::take_errno;
+use pros_core::error::take_errno;
 
 /// The basic mutex type.
 /// Mutexes are used to share variables between tasks safely.
diff --git a/packages/pros/src/task/local.rs b/packages/pros-sync/src/task/local.rs
similarity index 100%
rename from packages/pros/src/task/local.rs
rename to packages/pros-sync/src/task/local.rs
diff --git a/packages/pros/src/task/mod.rs b/packages/pros-sync/src/task/mod.rs
similarity index 90%
rename from packages/pros/src/task/mod.rs
rename to packages/pros-sync/src/task/mod.rs
index b815d868..df11ec25 100644
--- a/packages/pros/src/task/mod.rs
+++ b/packages/pros-sync/src/task/mod.rs
@@ -23,15 +23,11 @@ use alloc::{
     boxed::Box,
     string::{String, ToString},
 };
-use core::{ffi::CStr, future::Future, hash::Hash, str::Utf8Error, task::Poll, time::Duration};
+use core::{ffi::CStr, hash::Hash, str::Utf8Error, time::Duration};
 
+use pros_core::{bail_on, map_errno};
 use snafu::Snafu;
 
-use crate::{
-    async_runtime::executor::EXECUTOR,
-    error::{bail_on, map_errno},
-};
-
 /// Creates a task to be run 'asynchronously' (More information at the [FreeRTOS docs](https://www.freertos.org/taskandcr.html)).
 /// Takes in a closure that can move variables if needed.
 /// If your task has a loop it is advised to use [`sleep(duration)`](sleep) so that the task does not take up necessary system resources.
@@ -335,40 +331,6 @@ impl Interval {
     }
 }
 
-/// A future that will complete after the given duration.
-/// Sleep futures that are closer to completion are prioritized to improve accuracy.
-#[derive(Debug)]
-pub struct SleepFuture {
-    target_millis: u32,
-}
-impl Future for SleepFuture {
-    type Output = ();
-
-    fn poll(
-        self: core::pin::Pin<&mut Self>,
-        cx: &mut core::task::Context<'_>,
-    ) -> core::task::Poll<Self::Output> {
-        if self.target_millis < unsafe { pros_sys::millis() } {
-            Poll::Ready(())
-        } else {
-            EXECUTOR.with(|e| {
-                e.reactor
-                    .borrow_mut()
-                    .sleepers
-                    .push(cx.waker().clone(), self.target_millis)
-            });
-            Poll::Pending
-        }
-    }
-}
-
-/// Returns a future that will complete after the given duration.
-pub fn sleep(duration: core::time::Duration) -> SleepFuture {
-    SleepFuture {
-        target_millis: unsafe { pros_sys::millis() + duration.as_millis() as u32 },
-    }
-}
-
 /// Returns the task the function was called from.
 pub fn current() -> TaskHandle {
     unsafe {
diff --git a/packages/pros/Cargo.toml b/packages/pros/Cargo.toml
index 702142b2..50d1a550 100644
--- a/packages/pros/Cargo.toml
+++ b/packages/pros/Cargo.toml
@@ -18,17 +18,23 @@ rust-version = "1.75.0"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-lazy_static = { version = "1.4.0", features = ["spin_no_std"] }
-spin = "0.9.8"
-pros-sys = { version = "0.6", path = "../pros-sys", features = ["xapi"] }
-snafu = { version = "0.8.0", default-features = false, features = [
-    "rust_1_61",
-    "unstable-core-error",
-] }
-no_std_io = { version = "0.6.0", features = ["alloc"] }
-futures = { version = "0.3.28", default-features = false, features = ["alloc"] }
-async-task = { version = "4.5.0", default-features = false }
-waker-fn = "1.1.1"
+pros-sync = { version = "0.1.0", path = "../pros-sync", optional = true }
+pros-async = { version = "0.1.0", path = "../pros-async", optional = true }
+pros-devices = { version = "0.1.0", path = "../pros-devices", optional = true }
+pros-math = { version = "0.1.0", path = "../pros-math", optional = true }
+pros-panic = { version = "0.1.0", path = "../pros-panic", optional = true }
+pros-core = { version = "0.1.0", path = "../pros-core", optional = true }
 
-[target.'cfg(target_arch = "wasm32")'.dependencies]
-dlmalloc = { version = "0.2.4", features = ["global"] }
+[features]
+default = ["async", "devices", "math", "panic", "display_panics", "core"]
+
+core = ["dep:pros-core"]
+
+async = ["dep:pros-async"]
+sync = ["dep:pros-sync"]
+
+devices = ["dep:pros-devices"]
+math = ["dep:pros-math"]
+
+panic = ["dep:pros-panic"]
+display_panics = ["pros-panic/display_panics"]
diff --git a/packages/pros/examples/basic.rs b/packages/pros/examples/basic.rs
index 78837a04..e1e120a3 100644
--- a/packages/pros/examples/basic.rs
+++ b/packages/pros/examples/basic.rs
@@ -7,7 +7,7 @@ use pros::prelude::*;
 pub struct Robot;
 
 impl AsyncRobot for Robot {
-    async fn opcontrol(&mut self) -> pros::Result {
+    async fn opcontrol(&mut self) -> Result {
         println!("basic example");
 
         Ok(())
diff --git a/packages/pros/src/feedforward.rs b/packages/pros/src/feedforward.rs
deleted file mode 100644
index 8639b963..00000000
--- a/packages/pros/src/feedforward.rs
+++ /dev/null
@@ -1,59 +0,0 @@
-/// Feedforward controller for motor control.
-///
-/// This controller is used to apply feedforward control to achieve desired motor behavior
-/// based on velocity and acceleration.
-#[derive(Debug, Clone)]
-pub struct FeedforwardMotorController {
-    /// Feedforward constant for static friction compensation.
-    pub ks: f32,
-    /// Feedforward constant for velocity compensation.
-    pub kv: f32,
-    /// Feedforward constant for acceleration compensation.
-    pub ka: f32,
-    /// Feedforward constant for the target acceleration.
-    pub target_acceleration: f32,
-    /// Target.
-    pub target: f32,
-}
-
-impl FeedforwardMotorController {
-    /// Creates a new [`FeedforwardMotorController`] with the given constants and target.
-    ///
-    /// # Arguments
-    ///
-    /// * `ks` - Feedforward constant for static friction compensation.
-    /// * `kv` - Feedforward constant for velocity compensation.
-    /// * `ka` - Feedforward constant for acceleration compensation.
-    /// * `target_acceleration` - Feedforward constant for the target acceleration.
-    ///
-    /// # Returns
-    ///
-    /// A new [`FeedforwardMotorController`].
-    pub fn new(ks: f32, kv: f32, ka: f32, target_acceleration: f32) -> Self {
-        Self {
-            ks,
-            kv,
-            ka,
-        }
-    }
-
-    /// Updates the feedforward controller to calculate the control output.
-    ///
-    /// # Arguments
-    ///
-    /// * `target_acceleration` - The target_acceleration of the system.
-    /// * `target` - Target.
-    /// 
-    /// # Returns
-    ///
-    /// The control output to apply to the motor.
-    pub fn update(&self, target: f32, target_acceleration: f32) -> f32 {
-        // Calculate the feedforward component based on velocity and acceleration
-        let v = self.ks * target.signum() + self.kv * target + self.ka * target_acceleration;
-
-        // The output is the feedforward controller (V)
-        let output = v;
-        
-        output
-    }
-}
diff --git a/packages/pros/src/io/mod.rs b/packages/pros/src/io/mod.rs
deleted file mode 100644
index 58db33a1..00000000
--- a/packages/pros/src/io/mod.rs
+++ /dev/null
@@ -1,7 +0,0 @@
-//! Helpers for terminal I/O functionality.
-
-pub mod print_impl;
-
-pub use no_std_io::io::*;
-
-pub use crate::{dbg, eprint, eprintln, print, println};
diff --git a/packages/pros/src/lib.rs b/packages/pros/src/lib.rs
index 8f501810..c29bba4b 100644
--- a/packages/pros/src/lib.rs
+++ b/packages/pros/src/lib.rs
@@ -62,354 +62,71 @@
     clippy::missing_const_for_fn
 )]
 
-extern crate alloc;
-
-pub mod async_runtime;
-pub mod devices;
-pub mod error;
-pub mod pid;
-pub mod sync;
-#[macro_use]
-pub mod task;
-pub mod panic;
-
-#[doc(hidden)]
-pub use pros_sys as __pros_sys;
-#[cfg(target_os = "vexos")]
-mod vexos_env;
-#[cfg(target_arch = "wasm32")]
-mod wasm_env;
-#[macro_use]
-pub mod competition;
-pub mod color;
-pub mod io;
-pub mod time;
-pub mod usd;
-
-use core::future::Future;
-
-/// A result type that makes returning errors easier.
-pub type Result<T = ()> = core::result::Result<T, alloc::boxed::Box<dyn core::error::Error>>;
-
-/// A trait for robot code that spins up the pros-rs async executor.
-/// This is the preferred trait to run robot code.
-pub trait AsyncRobot {
-    /// Runs during the operator control period.
-    /// This function may be called more than once.
-    /// For that reason, do not use [`Peripherals::take`](prelude::Peripherals::take) in this function.
-    fn opcontrol(&mut self) -> impl Future<Output = Result> {
-        async { Ok(()) }
-    }
-    /// Runs during the autonomous period.
-    fn auto(&mut self) -> impl Future<Output = Result> {
-        async { Ok(()) }
-    }
-    /// Runs continuously during the disabled period.
-    fn disabled(&mut self) -> impl Future<Output = Result> {
-        async { Ok(()) }
-    }
-    /// Runs once when the competition system is initialized.
-    fn comp_init(&mut self) -> impl Future<Output = Result> {
-        async { Ok(()) }
-    }
-}
-
-/// A trait for robot code that runs without the async executor spun up.
-/// This trait isn't recommended. See [`AsyncRobot`] for the preferred trait to run robot code.
-pub trait SyncRobot {
-    /// Runs during the operator control period.
-    /// This function may be called more than once.
-    /// For that reason, do not use [`Peripherals::take`](prelude::Peripherals::take) in this function.
-    fn opcontrol(&mut self) -> Result {
-        Ok(())
-    }
-    /// Runs during the autonomous period.
-    fn auto(&mut self) -> Result {
-        Ok(())
-    }
-    /// Runs continuously during the disabled period.
-    fn disabled(&mut self) -> Result {
-        Ok(())
-    }
-    /// Runs once when the competition system is initialized.
-    fn comp_init(&mut self) -> Result {
-        Ok(())
-    }
-}
-
-#[doc(hidden)]
-#[macro_export]
-macro_rules! __gen_sync_exports {
-    ($rbt:ty) => {
-        pub static mut ROBOT: Option<$rbt> = None;
-
-        #[doc(hidden)]
-        #[no_mangle]
-        extern "C" fn opcontrol() {
-            <$rbt as $crate::SyncRobot>::opcontrol(unsafe {
-                ROBOT
-                    .as_mut()
-                    .expect("Expected initialize to run before opcontrol")
-            })
-            .unwrap();
-        }
-
-        #[doc(hidden)]
-        #[no_mangle]
-        extern "C" fn autonomous() {
-            <$rbt as $crate::SyncRobot>::auto(unsafe {
-                ROBOT
-                    .as_mut()
-                    .expect("Expected initialize to run before opcontrol")
-            })
-            .unwrap();
-        }
-
-        #[doc(hidden)]
-        #[no_mangle]
-        extern "C" fn disabled() {
-            <$rbt as $crate::SyncRobot>::disabled(unsafe {
-                ROBOT
-                    .as_mut()
-                    .expect("Expected initialize to run before opcontrol")
-            })
-            .unwrap();
-        }
-
-        #[doc(hidden)]
-        #[no_mangle]
-        extern "C" fn competition_initialize() {
-            <$rbt as $crate::SyncRobot>::comp_init(unsafe {
-                ROBOT
-                    .as_mut()
-                    .expect("Expected initialize to run before opcontrol")
-            })
-            .unwrap();
-        }
-    };
-}
-
-#[doc(hidden)]
-#[macro_export]
-macro_rules! __gen_async_exports {
-    ($rbt:ty) => {
-        pub static mut ROBOT: Option<$rbt> = None;
-
-        #[doc(hidden)]
-        #[no_mangle]
-        extern "C" fn opcontrol() {
-            $crate::async_runtime::block_on(<$rbt as $crate::AsyncRobot>::opcontrol(unsafe {
-                ROBOT
-                    .as_mut()
-                    .expect("Expected initialize to run before opcontrol")
-            }))
-            .unwrap();
-        }
-
-        #[doc(hidden)]
-        #[no_mangle]
-        extern "C" fn autonomous() {
-            $crate::async_runtime::block_on(<$rbt as $crate::AsyncRobot>::auto(unsafe {
-                ROBOT
-                    .as_mut()
-                    .expect("Expected initialize to run before auto")
-            }))
-            .unwrap();
-        }
-
-        #[doc(hidden)]
-        #[no_mangle]
-        extern "C" fn disabled() {
-            $crate::async_runtime::block_on(<$rbt as $crate::AsyncRobot>::disabled(unsafe {
-                ROBOT
-                    .as_mut()
-                    .expect("Expected initialize to run before disabled")
-            }))
-            .unwrap();
-        }
-
-        #[doc(hidden)]
-        #[no_mangle]
-        extern "C" fn competition_initialize() {
-            $crate::async_runtime::block_on(<$rbt as $crate::AsyncRobot>::comp_init(unsafe {
-                ROBOT
-                    .as_mut()
-                    .expect("Expected initialize to run before comp_init")
-            }))
-            .unwrap();
-        }
-    };
-}
-
-/// Allows your async robot code to be executed by the pros kernel.
-/// If your robot struct implements Default then you can just supply this macro with its type.
-/// If not, you can supply an expression that returns your robot type to initialize your robot struct.
-/// The code that runs to create your robot struct will run in the initialize function in PROS.
-///
-/// Example of using the macro with a struct that implements Default:
-/// ```rust
-/// use pros::prelude::*;
-/// #[derive(Default)]
-/// struct ExampleRobot;
-/// #[async_trait]
-/// impl AsyncRobot for ExampleRobot {
-///    asnyc fn opcontrol(&mut self) -> pros::Result {
-///       println!("Hello, world!");
-///      Ok(())
-///   }
-/// }
-/// async_robot!(ExampleRobot);
-/// ```
-///
-/// Example of using the macro with a struct that does not implement Default:
-/// ```rust
-/// use pros::prelude::*;
-/// struct ExampleRobot {
-///    x: i32,
-/// }
-/// #[async_trait]
-/// impl AsyncRobot for ExampleRobot {
-///     async fn opcontrol(&mut self) -> pros::Result {
-///         println!("Hello, world! {}", self.x);
-///         Ok(())
-///     }
-/// }
-/// impl ExampleRobot {
-///     pub fn new() -> Self {
-///        Self { x: 5 }
-///    }
-/// }
-/// async_robot!(ExampleRobot, ExampleRobot::new());
-#[macro_export]
-macro_rules! async_robot {
-    ($rbt:ty) => {
-        $crate::__gen_async_exports!($rbt);
-
-        #[no_mangle]
-        extern "C" fn initialize() {
-            unsafe {
-                ROBOT = Some(Default::default());
-            }
-        }
-    };
-    ($rbt:ty, $init:expr) => {
-        $crate::__gen_async_exports!($rbt);
-
-        #[no_mangle]
-        extern "C" fn initialize() {
-            unsafe {
-                ROBOT = Some($init);
-            }
-        }
-    };
-}
-
-/// Allows your sync robot code to be executed by the pros kernel.
-/// If your robot struct implements Default then you can just supply this macro with its type.
-/// If not, you can supply an expression that returns your robot type to initialize your robot struct.
-/// The code that runs to create your robot struct will run in the initialize function in PROS.
-///
-/// Example of using the macro with a struct that implements Default:
-/// ```rust
-/// use pros::prelude::*;
-/// #[derive(Default)]
-/// struct ExampleRobot;
-/// impl SyncRobot for ExampleRobot {
-///    asnyc fn opcontrol(&mut self) -> pros::Result {
-///       println!("Hello, world!");
-///      Ok(())
-///   }
-/// }
-/// sync_robot!(ExampleRobot);
-/// ```
-///
-/// Example of using the macro with a struct that does not implement Default:
-/// ```rust
-/// use pros::prelude::*;
-/// struct ExampleRobot {
-///    x: i32,
-/// }
-/// impl SyncRobot for ExampleRobot {
-///     async fn opcontrol(&mut self) -> pros::Result {
-///         println!("Hello, world! {}", self.x);
-///         Ok(())
-///     }
-/// }
-/// impl ExampleRobot {
-///     pub fn new() -> Self {
-///        Self { x: 5 }
-///    }
-/// }
-/// sync_robot!(ExampleRobot, ExampleRobot::new());
-#[macro_export]
-macro_rules! sync_robot {
-    ($rbt:ty) => {
-        $crate::__gen_sync_exports!($rbt);
-
-        #[no_mangle]
-        extern "C" fn initialize() {
-            unsafe {
-                ROBOT = Some(Default::default());
-            }
-        }
-    };
-    ($rbt:ty, $init:expr) => {
-        $crate::__gen_sync_exports!($rbt);
-
-        #[no_mangle]
-        extern "C" fn initialize() {
-            unsafe {
-                ROBOT = Some($init);
-            }
-        }
-    };
-}
+#[cfg(all(feature = "async", feature = "sync"))]
+compile_error!("The `async` and `sync` features are mutually exclusive.");
+
+#[cfg(all(not(feature = "async"), not(feature = "sync")))]
+compile_error!("You must enable either the `async` or `sync` feature in order to make a robot.");
+
+#[cfg(feature = "async")]
+pub use pros_async;
+#[cfg(feature = "core")]
+pub use pros_core;
+#[cfg(feature = "devices")]
+pub use pros_devices;
+#[cfg(feature = "sync")]
+pub use pros_sync;
+#[cfg(feature = "math")]
+pub use pros_math;
+#[cfg(feature = "panic")]
+pub use pros_panic;
 
 /// Commonly used features of pros-rs.
 /// This module is meant to be glob imported.
 pub mod prelude {
-    // Import Box from alloc so that it can be used in async_trait!
-    pub use alloc::boxed::Box;
-
-    pub use crate::{
-        async_robot,
-        async_runtime::*,
+    #[cfg(feature = "async")]
+    pub use pros_async::{async_robot, async_runtime::*, sleep, AsyncRobot};
+    #[cfg(feature = "core")]
+    pub use pros_core::{
+        dbg, eprint, eprintln,
+        error::{PortError, Result},
+        io::{BufRead, Read, Seek, Write},
+        print, println,
+    };
+    #[cfg(feature = "devices")]
+    pub use pros_devices::{
+        adi::{
+            analog::AdiAnalogIn,
+            digital::{AdiDigitalIn, AdiDigitalOut},
+            encoder::AdiEncoder,
+            gyro::AdiGyro,
+            motor::AdiMotor,
+            potentiometer::{AdiPotentiometer, AdiPotentiometerType},
+            pwm::AdiPwmOut,
+            solenoid::AdiSolenoid,
+            ultrasonic::AdiUltrasonic,
+            AdiDevice, AdiPort,
+        },
         color::Rgb,
-        devices::{
-            adi::{
-                analog::AdiAnalogIn,
-                digital::{AdiDigitalIn, AdiDigitalOut},
-                encoder::AdiEncoder,
-                gyro::AdiGyro,
-                motor::AdiMotor,
-                potentiometer::{AdiPotentiometer, AdiPotentiometerType},
-                pwm::AdiPwmOut,
-                solenoid::AdiSolenoid,
-                ultrasonic::AdiUltrasonic,
-                AdiDevice, AdiPort,
-            },
-            peripherals::{DynamicPeripherals, Peripherals},
             position::Position,
             screen::{Circle, Line, Rect, Screen, Text, TextFormat, TextPosition, TouchState},
-            smart::{
-                distance::DistanceSensor,
-                expander::AdiExpander,
-                gps::GpsSensor,
-                imu::InertialSensor,
-                link::{Link, RxLink, TxLink},
-                motor::{BrakeMode, Gearset, Motor},
-                optical::OpticalSensor,
-                rotation::RotationSensor,
-                vision::VisionSensor,
-                SmartDevice, SmartPort,
-            },
+        smart::{
+            distance::DistanceSensor,
+            expander::AdiExpander,
+            gps::GpsSensor,
+            imu::InertialSensor,
+            link::{Link, RxLink, TxLink},
+            motor::{BrakeMode, Gearset, Motor},
+            optical::OpticalSensor,
+            rotation::RotationSensor,
+            vision::VisionSensor,
+            SmartDevice, SmartPort,
         },
-        error::PortError,
-        io::{dbg, eprintln, print, println, BufRead, Read, Seek, Write},
-        os_task_local,
-        pid::*,
-        sync_robot,
+    };
+    #[cfg(feature = "sync")]
+    pub use pros_sync::{
+        os_task_local, sync_robot,
         task::{delay, sleep, spawn},
-        AsyncRobot, SyncRobot,
+        SyncRobot,
     };
 }

From 92ea621ca5c199c26eb3ba8abc2850123ce86aa2 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sun, 4 Feb 2024 11:40:58 -0800
Subject: [PATCH 56/96] fix: get examples working

---
 packages/pros-async/src/lib.rs                |  2 +-
 packages/pros-core/src/io/mod.rs              |  9 ++++----
 packages/pros-core/src/lib.rs                 |  4 ++--
 packages/pros-devices/src/adi/analog.rs       |  2 +-
 packages/pros-devices/src/adi/digital.rs      |  2 +-
 packages/pros-devices/src/adi/encoder.rs      |  2 +-
 packages/pros-devices/src/adi/gyro.rs         |  2 +-
 packages/pros-devices/src/adi/mod.rs          |  2 +-
 packages/pros-devices/src/adi/motor.rs        |  2 +-
 .../pros-devices/src/adi/potentiometer.rs     |  2 +-
 packages/pros-devices/src/adi/ultrasonic.rs   |  2 +-
 packages/pros-devices/src/smart/distance.rs   |  2 +-
 packages/pros-devices/src/smart/gps.rs        |  2 +-
 packages/pros-devices/src/smart/link.rs       |  6 ++++-
 packages/pros-devices/src/smart/motor.rs      |  2 +-
 packages/pros-devices/src/smart/optical.rs    |  2 +-
 packages/pros-devices/src/smart/vision.rs     |  2 +-
 packages/pros-panic/src/lib.rs                |  4 ++--
 packages/pros-sync/src/lib.rs                 |  1 +
 packages/pros/Cargo.toml                      |  2 +-
 packages/pros/examples/accessories.rs         |  4 +---
 packages/pros/examples/adi.rs                 |  4 ++--
 packages/pros/examples/battery.rs             |  2 +-
 packages/pros/examples/dynamic_peripherals.rs |  2 +-
 packages/pros/examples/imu.rs                 |  4 ++--
 packages/pros/examples/optical.rs             |  4 ++--
 packages/pros/examples/screen.rs              |  2 +-
 packages/pros/src/lib.rs                      | 22 +++++++------------
 28 files changed, 47 insertions(+), 51 deletions(-)

diff --git a/packages/pros-async/src/lib.rs b/packages/pros-async/src/lib.rs
index a65e47cd..f091ffb8 100644
--- a/packages/pros-async/src/lib.rs
+++ b/packages/pros-async/src/lib.rs
@@ -3,10 +3,10 @@
 extern crate alloc;
 
 pub mod async_runtime;
-
 use core::{future::Future, task::Poll};
 
 use async_runtime::executor::EXECUTOR;
+pub use async_runtime::*;
 use pros_core::error::Result;
 
 /// A future that will complete after the given duration.
diff --git a/packages/pros-core/src/io/mod.rs b/packages/pros-core/src/io/mod.rs
index 5ac209e4..12166332 100644
--- a/packages/pros-core/src/io/mod.rs
+++ b/packages/pros-core/src/io/mod.rs
@@ -38,10 +38,6 @@
 //! # }
 //! ```
 
-pub use no_std_io::io::*;
-
-pub use crate::{dbg, eprint, eprintln, print, println};
-
 // libc_print is licensed under the MIT License:
 
 // Copyright (c) 2023 Matt Mastracci and contributors
@@ -63,10 +59,13 @@ pub use crate::{dbg, eprint, eprintln, print, println};
 // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 // SOFTWARE.
-
 #[allow(unused_imports)]
 use core::{convert::TryFrom, file, line, stringify};
 
+pub use no_std_io::io::*;
+
+pub use crate::{dbg, eprint, eprintln, print, println};
+
 #[doc(hidden)]
 #[allow(missing_debug_implementations)]
 pub struct __SerialWriter(i32);
diff --git a/packages/pros-core/src/lib.rs b/packages/pros-core/src/lib.rs
index b61ed55d..29b52f70 100644
--- a/packages/pros-core/src/lib.rs
+++ b/packages/pros-core/src/lib.rs
@@ -2,8 +2,8 @@
 #![feature(error_in_core)]
 extern crate alloc;
 
-pub mod pros_alloc;
+pub mod competition;
 pub mod error;
 pub mod io;
+pub mod pros_alloc;
 pub mod time;
-pub mod competition;
diff --git a/packages/pros-devices/src/adi/analog.rs b/packages/pros-devices/src/adi/analog.rs
index 104bbd05..1a4a83c9 100644
--- a/packages/pros-devices/src/adi/analog.rs
+++ b/packages/pros-devices/src/adi/analog.rs
@@ -8,10 +8,10 @@
 //! Analog-to-Digital Converter (ADC) in the V5 brain. The brain measures analog input
 //! using 12-bit values ranging from 0 (0V) to 4095 (5V).
 
+use pros_core::bail_on;
 use pros_sys::PROS_ERR;
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use pros_core::bail_on;
 
 /// Generic analog input ADI device.
 #[derive(Debug, Eq, PartialEq)]
diff --git a/packages/pros-devices/src/adi/digital.rs b/packages/pros-devices/src/adi/digital.rs
index bf33bcb7..f1e7c9fa 100644
--- a/packages/pros-devices/src/adi/digital.rs
+++ b/packages/pros-devices/src/adi/digital.rs
@@ -1,9 +1,9 @@
 //! Digital input and output ADI devices
 
+use pros_core::bail_on;
 use pros_sys::PROS_ERR;
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use pros_core::bail_on;
 
 /// Represents the logic level of a digital pin.
 ///
diff --git a/packages/pros-devices/src/adi/encoder.rs b/packages/pros-devices/src/adi/encoder.rs
index aa3520eb..ee0ae8f9 100644
--- a/packages/pros-devices/src/adi/encoder.rs
+++ b/packages/pros-devices/src/adi/encoder.rs
@@ -1,9 +1,9 @@
 //! ADI encoder device.
 
+use pros_core::bail_on;
 use pros_sys::{ext_adi_encoder_t, PROS_ERR};
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use pros_core::bail_on;
 
 /// ADI encoder device.
 /// Requires two adi ports.
diff --git a/packages/pros-devices/src/adi/gyro.rs b/packages/pros-devices/src/adi/gyro.rs
index d7cae9a5..617007e6 100644
--- a/packages/pros-devices/src/adi/gyro.rs
+++ b/packages/pros-devices/src/adi/gyro.rs
@@ -2,10 +2,10 @@
 
 use core::time::Duration;
 
+use pros_core::bail_on;
 use pros_sys::{ext_adi_gyro_t, PROS_ERR, PROS_ERR_F};
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use pros_core::bail_on;
 
 /// ADI gyro device.
 #[derive(Debug, Eq, PartialEq)]
diff --git a/packages/pros-devices/src/adi/mod.rs b/packages/pros-devices/src/adi/mod.rs
index 527e2861..6c814eb6 100644
--- a/packages/pros-devices/src/adi/mod.rs
+++ b/packages/pros-devices/src/adi/mod.rs
@@ -1,6 +1,6 @@
 //! ADI (Triport) devices on the Vex V5.
 
-use pros_core::{bail_on, map_errno, error::PortError};
+use pros_core::{bail_on, error::PortError, map_errno};
 use pros_sys::{adi_port_config_e_t, PROS_ERR, E_ADI_ERR,};
 use snafu::Snafu;
 
diff --git a/packages/pros-devices/src/adi/motor.rs b/packages/pros-devices/src/adi/motor.rs
index ba1ba842..bda8d5df 100644
--- a/packages/pros-devices/src/adi/motor.rs
+++ b/packages/pros-devices/src/adi/motor.rs
@@ -1,9 +1,9 @@
 //! ADI motor device.
 
+use pros_core::bail_on;
 use pros_sys::PROS_ERR;
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use pros_core::bail_on;
 
 #[derive(Debug, Eq, PartialEq)]
 /// Cortex era motor device.
diff --git a/packages/pros-devices/src/adi/potentiometer.rs b/packages/pros-devices/src/adi/potentiometer.rs
index ee0caa13..80f6375a 100644
--- a/packages/pros-devices/src/adi/potentiometer.rs
+++ b/packages/pros-devices/src/adi/potentiometer.rs
@@ -1,9 +1,9 @@
 //! ADI Potentiometer device.
 
+use pros_core::bail_on;
 use pros_sys::{adi_potentiometer_type_e_t, ext_adi_potentiometer_t, PROS_ERR, PROS_ERR_F};
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use pros_core::bail_on;
 
 #[derive(Debug, Eq, PartialEq)]
 /// Analog potentiometer ADI device.
diff --git a/packages/pros-devices/src/adi/ultrasonic.rs b/packages/pros-devices/src/adi/ultrasonic.rs
index 27b74e2a..098a867a 100644
--- a/packages/pros-devices/src/adi/ultrasonic.rs
+++ b/packages/pros-devices/src/adi/ultrasonic.rs
@@ -1,9 +1,9 @@
 //! ADI ultrasonic sensor.
 
+use pros_core::bail_on;
 use pros_sys::{ext_adi_ultrasonic_t, PROS_ERR};
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use pros_core::bail_on;
 
 #[derive(Debug, Eq, PartialEq)]
 /// Adi ultrasonic sensor.
diff --git a/packages/pros-devices/src/smart/distance.rs b/packages/pros-devices/src/smart/distance.rs
index 6cebcf52..37f55703 100644
--- a/packages/pros-devices/src/smart/distance.rs
+++ b/packages/pros-devices/src/smart/distance.rs
@@ -4,10 +4,10 @@
 
 use core::ffi::c_double;
 
+use pros_core::{bail_on, error::PortError};
 use pros_sys::PROS_ERR;
 
 use super::{SmartDevice, SmartDeviceType, SmartPort};
-use pros_core::{bail_on, error::PortError};
 
 /// A physical distance sensor plugged into a port.
 /// Distance sensors can only keep track of one object at a time.
diff --git a/packages/pros-devices/src/smart/gps.rs b/packages/pros-devices/src/smart/gps.rs
index a00cb18d..16e561b0 100644
--- a/packages/pros-devices/src/smart/gps.rs
+++ b/packages/pros-devices/src/smart/gps.rs
@@ -3,11 +3,11 @@
 //! A notable differenc between this API and that of PROS
 //! is that [`GpsSensor::status`] returns acceleration along with other status data.
 
+use pros_core::{bail_on, error::PortError, map_errno};
 use pros_sys::{PROS_ERR, PROS_ERR_F};
 use snafu::Snafu;
 
 use super::{SmartDevice, SmartDeviceType, SmartPort};
-use pros_core::{bail_on, map_errno, error::PortError};
 
 //TODO: Figure out what all the units are
 #[derive(Default, Debug, Clone, Copy, PartialEq)]
diff --git a/packages/pros-devices/src/smart/link.rs b/packages/pros-devices/src/smart/link.rs
index 1a34003c..ddcebdf7 100644
--- a/packages/pros-devices/src/smart/link.rs
+++ b/packages/pros-devices/src/smart/link.rs
@@ -7,7 +7,11 @@ use alloc::{ffi::CString, string::String};
 use core::ffi::CStr;
 
 use no_std_io::io;
-use pros_core::{bail_errno, bail_on, map_errno, error::{ FromErrno, PortError }};
+use pros_core::{
+    bail_errno, bail_on,
+    error::{FromErrno, PortError},
+    map_errno,
+};
 use pros_sys::{link_receive, link_transmit, E_LINK_RECEIVER, E_LINK_TRANSMITTER};
 use snafu::Snafu;
 
diff --git a/packages/pros-devices/src/smart/motor.rs b/packages/pros-devices/src/smart/motor.rs
index 8eb8421e..5b8efaf3 100644
--- a/packages/pros-devices/src/smart/motor.rs
+++ b/packages/pros-devices/src/smart/motor.rs
@@ -21,7 +21,7 @@
 //! }
 //! ```
 
-use pros_core::{bail_on, map_errno, error::PortError};
+use pros_core::{bail_on, error::PortError, map_errno};
 use pros_sys::{PROS_ERR, PROS_ERR_F};
 use snafu::Snafu;
 
diff --git a/packages/pros-devices/src/smart/optical.rs b/packages/pros-devices/src/smart/optical.rs
index 4ed513ef..464e3b7b 100644
--- a/packages/pros-devices/src/smart/optical.rs
+++ b/packages/pros-devices/src/smart/optical.rs
@@ -2,11 +2,11 @@
 
 use core::time::Duration;
 
+use pros_core::{bail_on, error::PortError, map_errno};
 use pros_sys::{OPT_GESTURE_ERR, PROS_ERR, PROS_ERR_F};
 use snafu::Snafu;
 
 use super::{SmartDevice, SmartDeviceType, SmartPort};
-use pros_core::{bail_on, map_errno, error::PortError};
 
 /// Represents a smart port configured as a V5 optical sensor
 #[derive(Debug, Eq, PartialEq)]
diff --git a/packages/pros-devices/src/smart/vision.rs b/packages/pros-devices/src/smart/vision.rs
index eed7f5b0..ad27ce5e 100644
--- a/packages/pros-devices/src/smart/vision.rs
+++ b/packages/pros-devices/src/smart/vision.rs
@@ -5,7 +5,7 @@
 extern crate alloc;
 use alloc::vec::Vec;
 
-use pros_core::{bail_errno, bail_on, map_errno, error::PortError};
+use pros_core::{bail_errno, bail_on, error::PortError, map_errno};
 use pros_sys::{PROS_ERR, VISION_OBJECT_ERR_SIG};
 use snafu::Snafu;
 
diff --git a/packages/pros-panic/src/lib.rs b/packages/pros-panic/src/lib.rs
index 46f8e350..6b3b6adf 100644
--- a/packages/pros-panic/src/lib.rs
+++ b/packages/pros-panic/src/lib.rs
@@ -2,11 +2,11 @@
 extern crate alloc;
 
 use alloc::format;
-use pros_core::eprintln;
-use pros_sync::task;
 
+use pros_core::eprintln;
 #[cfg(feature = "display_panics")]
 use pros_devices::Screen;
+use pros_sync::task;
 
 extern "C" {
     /// Prints a backtrace to the debug console
diff --git a/packages/pros-sync/src/lib.rs b/packages/pros-sync/src/lib.rs
index f98beb0f..621f1c3d 100644
--- a/packages/pros-sync/src/lib.rs
+++ b/packages/pros-sync/src/lib.rs
@@ -5,6 +5,7 @@ pub mod sync;
 pub mod task;
 
 use pros_core::error::Result;
+pub use sync::*;
 
 /// A trait for robot code that runs without the async executor spun up.
 /// This trait isn't recommended. See [`AsyncRobot`] for the preferred trait to run robot code.
diff --git a/packages/pros/Cargo.toml b/packages/pros/Cargo.toml
index 50d1a550..470150a8 100644
--- a/packages/pros/Cargo.toml
+++ b/packages/pros/Cargo.toml
@@ -26,7 +26,7 @@ pros-panic = { version = "0.1.0", path = "../pros-panic", optional = true }
 pros-core = { version = "0.1.0", path = "../pros-core", optional = true }
 
 [features]
-default = ["async", "devices", "math", "panic", "display_panics", "core"]
+default = ["async", "sync", "devices", "math", "panic", "display_panics", "core"]
 
 core = ["dep:pros-core"]
 
diff --git a/packages/pros/examples/accessories.rs b/packages/pros/examples/accessories.rs
index b2e74b96..119934b9 100644
--- a/packages/pros/examples/accessories.rs
+++ b/packages/pros/examples/accessories.rs
@@ -7,14 +7,12 @@ use alloc::sync::Arc;
 use core::time::Duration;
 
 use pros::{
-    color::Rgb,
     devices::{
         smart::vision::{LedMode, VisionZeroPoint},
         Controller,
     },
     prelude::*,
     sync::Mutex,
-    task::delay,
 };
 
 struct ExampleRobot {
@@ -33,7 +31,7 @@ impl ExampleRobot {
 }
 
 impl AsyncRobot for ExampleRobot {
-    async fn opcontrol(&mut self) -> pros::Result {
+    async fn opcontrol(&mut self) -> Result {
         let handle = pros::async_runtime::spawn(async {
             for _ in 0..5 {
                 println!("Hello from async!");
diff --git a/packages/pros/examples/adi.rs b/packages/pros/examples/adi.rs
index aa0d4fa4..1425a42e 100644
--- a/packages/pros/examples/adi.rs
+++ b/packages/pros/examples/adi.rs
@@ -21,7 +21,7 @@ impl ExampleRobot {
 }
 
 impl AsyncRobot for ExampleRobot {
-    async fn opcontrol(&mut self) -> pros::Result {
+    async fn opcontrol(&mut self) -> Result {
         self.gyro.zero()?;
         self.encoder.zero()?;
 
@@ -29,7 +29,7 @@ impl AsyncRobot for ExampleRobot {
             println!("Encoder value: {:?}", self.encoder.value());
             println!("Ultrasonic value: {:?}", self.ultrasonic.value());
 
-            pros::task::delay(Duration::from_millis(10));
+            delay(Duration::from_millis(10));
         }
     }
 }
diff --git a/packages/pros/examples/battery.rs b/packages/pros/examples/battery.rs
index 679e1079..e0384393 100644
--- a/packages/pros/examples/battery.rs
+++ b/packages/pros/examples/battery.rs
@@ -7,7 +7,7 @@ use pros::{devices::battery, prelude::*};
 pub struct Robot;
 
 impl AsyncRobot for Robot {
-    async fn opcontrol(&mut self) -> pros::Result {
+    async fn opcontrol(&mut self) -> Result {
         if battery::capacity()? < 20.0 {
             println!("Battery is low!");
         } else if battery::temperature()? > 999.0 {
diff --git a/packages/pros/examples/dynamic_peripherals.rs b/packages/pros/examples/dynamic_peripherals.rs
index 205ecea1..4b4c321a 100644
--- a/packages/pros/examples/dynamic_peripherals.rs
+++ b/packages/pros/examples/dynamic_peripherals.rs
@@ -14,7 +14,7 @@ impl Robot {
     }
 }
 impl AsyncRobot for Robot {
-    async fn opcontrol(&mut self) -> pros::Result {
+    async fn opcontrol(&mut self) -> Result {
         let motor = Motor::new(
             self.peripherals.take_smart_port(10).unwrap(),
             BrakeMode::Brake,
diff --git a/packages/pros/examples/imu.rs b/packages/pros/examples/imu.rs
index 214c2e84..20440fd9 100644
--- a/packages/pros/examples/imu.rs
+++ b/packages/pros/examples/imu.rs
@@ -17,7 +17,7 @@ impl Robot {
 }
 
 impl AsyncRobot for Robot {
-    async fn opcontrol(&mut self) -> pros::Result {
+    async fn opcontrol(&mut self) -> Result {
         self.imu.calibrate().await?;
 
         loop {
@@ -28,7 +28,7 @@ impl AsyncRobot for Robot {
                 euler.pitch, euler.roll, euler.yaw
             );
 
-            pros::task::delay(Duration::from_secs(1));
+            delay(Duration::from_secs(1));
         }
     }
 }
diff --git a/packages/pros/examples/optical.rs b/packages/pros/examples/optical.rs
index 5766fdc9..d237553d 100644
--- a/packages/pros/examples/optical.rs
+++ b/packages/pros/examples/optical.rs
@@ -17,7 +17,7 @@ impl Robot {
 }
 
 impl SyncRobot for Robot {
-    fn opcontrol(&mut self) -> pros::Result {
+    fn opcontrol(&mut self) -> Result {
         loop {
             println!(
 				"-----\nHue: {}\nSaturation: {}\nBrightess: {}\nLast Gesture Direction: {:?}\n-----\n",
@@ -27,7 +27,7 @@ impl SyncRobot for Robot {
 				self.optical.last_gesture_direction()?
 			);
 
-            pros::task::delay(Duration::from_millis(10));
+            delay(Duration::from_millis(10));
         }
     }
 }
diff --git a/packages/pros/examples/screen.rs b/packages/pros/examples/screen.rs
index 04d692f4..d6daa3e2 100644
--- a/packages/pros/examples/screen.rs
+++ b/packages/pros/examples/screen.rs
@@ -18,7 +18,7 @@ impl Robot {
 }
 
 impl AsyncRobot for Robot {
-    async fn opcontrol(&mut self) -> pros::Result {
+    async fn opcontrol(&mut self) -> Result {
         self.screen.fill(&Rect::new(0, 0, 20, 20), Rgb::RED)?;
         self.screen.stroke(&Circle::new(25, 25, 20), Rgb::BLUE)?;
 
diff --git a/packages/pros/src/lib.rs b/packages/pros/src/lib.rs
index c29bba4b..e697d83f 100644
--- a/packages/pros/src/lib.rs
+++ b/packages/pros/src/lib.rs
@@ -62,24 +62,18 @@
     clippy::missing_const_for_fn
 )]
 
-#[cfg(all(feature = "async", feature = "sync"))]
-compile_error!("The `async` and `sync` features are mutually exclusive.");
-
-#[cfg(all(not(feature = "async"), not(feature = "sync")))]
-compile_error!("You must enable either the `async` or `sync` feature in order to make a robot.");
-
 #[cfg(feature = "async")]
-pub use pros_async;
+pub use pros_async as async_runtime;
 #[cfg(feature = "core")]
-pub use pros_core;
+pub use pros_core as core;
 #[cfg(feature = "devices")]
-pub use pros_devices;
-#[cfg(feature = "sync")]
-pub use pros_sync;
+pub use pros_devices as devices;
 #[cfg(feature = "math")]
-pub use pros_math;
+pub use pros_math as math;
 #[cfg(feature = "panic")]
-pub use pros_panic;
+pub use pros_panic as panic;
+#[cfg(feature = "sync")]
+pub use pros_sync as sync;
 
 /// Commonly used features of pros-rs.
 /// This module is meant to be glob imported.
@@ -126,7 +120,7 @@ pub mod prelude {
     #[cfg(feature = "sync")]
     pub use pros_sync::{
         os_task_local, sync_robot,
-        task::{delay, sleep, spawn},
+        task::{delay, spawn},
         SyncRobot,
     };
 }

From 8f659187156a09436f4452b78f5a5601afa4da78 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sun, 4 Feb 2024 11:53:37 -0800
Subject: [PATCH 57/96] docs: update changelog

---
 CHANGELOG.md                           | 2 +-
 packages/pros-devices/src/adi/gyro.rs  | 4 +++-
 packages/pros-devices/src/smart/imu.rs | 4 ++--
 packages/pros-math/Cargo.toml          | 1 +
 4 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 39b3feab..d32f513c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -25,7 +25,6 @@ Before releasing:
 - 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)
@@ -59,6 +58,7 @@ Before releasing:
 - 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).
+- Split the `pros` crate into several smaller subcrates. (#86) (**Breaking Change**)
 
 ### Removed
 
diff --git a/packages/pros-devices/src/adi/gyro.rs b/packages/pros-devices/src/adi/gyro.rs
index 617007e6..bc6eb156 100644
--- a/packages/pros-devices/src/adi/gyro.rs
+++ b/packages/pros-devices/src/adi/gyro.rs
@@ -43,7 +43,9 @@ impl AdiGyro {
 
     /// Reset the current gyro angle to zero degrees.
     pub fn zero(&mut self) -> Result<(), AdiError> {
-        bail_on!(PROS_ERR, unsafe { pros_sys::ext_adi_gyro_reset(self.raw) });
+        bail_on!(PROS_ERR, unsafe {
+            pros_sys::ext_adi_gyro_reset(self.raw)
+        });
         Ok(())
     }
 }
diff --git a/packages/pros-devices/src/smart/imu.rs b/packages/pros-devices/src/smart/imu.rs
index fb3b367d..2ec5223e 100644
--- a/packages/pros-devices/src/smart/imu.rs
+++ b/packages/pros-devices/src/smart/imu.rs
@@ -413,8 +413,8 @@ impl core::future::Future for InertialCalibrateFuture {
             Self::Calibrate(port) => match unsafe { pros_sys::imu_reset(port) } {
                 PROS_ERR => {
                     let errno = take_errno();
-                    return Poll::Ready(Err(InertialError::from_errno(errno)
-                        .unwrap_or_else(|| panic!("Unknown errno code {errno}"))));
+                    Poll::Ready(Err(InertialError::from_errno(errno)
+                        .unwrap_or_else(|| panic!("Unknown errno code {errno}"))))
                 }
                 _ => {
                     *self = Self::Waiting(port, Instant::now());
diff --git a/packages/pros-math/Cargo.toml b/packages/pros-math/Cargo.toml
index a51e24af..e0d17465 100644
--- a/packages/pros-math/Cargo.toml
+++ b/packages/pros-math/Cargo.toml
@@ -7,3 +7,4 @@ edition = "2021"
 
 [dependencies]
 pros-sys = { version = "0.6.0", path = "../pros-sys" }
+pros-core = { version = "0.1.0", path = "../pros-core" }

From 9a7f04c2983d9c3c326dd52d68fbdf174d78df06 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sun, 4 Feb 2024 12:03:47 -0800
Subject: [PATCH 58/96] chore: format

---
 packages/pros-devices/src/adi/gyro.rs | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/packages/pros-devices/src/adi/gyro.rs b/packages/pros-devices/src/adi/gyro.rs
index bc6eb156..617007e6 100644
--- a/packages/pros-devices/src/adi/gyro.rs
+++ b/packages/pros-devices/src/adi/gyro.rs
@@ -43,9 +43,7 @@ impl AdiGyro {
 
     /// Reset the current gyro angle to zero degrees.
     pub fn zero(&mut self) -> Result<(), AdiError> {
-        bail_on!(PROS_ERR, unsafe {
-            pros_sys::ext_adi_gyro_reset(self.raw)
-        });
+        bail_on!(PROS_ERR, unsafe { pros_sys::ext_adi_gyro_reset(self.raw) });
         Ok(())
     }
 }

From 494cdbbe2133817e327b302afc5d9e59d3aa0b4a Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sun, 4 Feb 2024 14:10:36 -0800
Subject: [PATCH 59/96] docs: add basic module level documentation

---
 packages/pros-async/src/async_runtime/mod.rs |  1 -
 packages/pros-async/src/lib.rs               | 12 ++++++++++++
 packages/pros-core/src/error.rs              |  1 +
 packages/pros-core/src/lib.rs                | 18 ++++++++++++++++++
 packages/pros-core/src/pros_alloc/mod.rs     |  2 ++
 packages/pros-devices/src/lib.rs             |  8 ++++++++
 packages/pros-panic/src/lib.rs               | 14 +++++++++++++-
 packages/pros-sync/src/lib.rs                | 13 +++++++++++++
 packages/pros-sync/src/task/mod.rs           |  2 +-
 packages/pros/src/lib.rs                     | 13 +++----------
 10 files changed, 71 insertions(+), 13 deletions(-)

diff --git a/packages/pros-async/src/async_runtime/mod.rs b/packages/pros-async/src/async_runtime/mod.rs
index 2fec27f4..acb1e545 100644
--- a/packages/pros-async/src/async_runtime/mod.rs
+++ b/packages/pros-async/src/async_runtime/mod.rs
@@ -18,7 +18,6 @@ pub fn spawn<T>(future: impl Future<Output = T> + 'static) -> Task<T> {
 
 /// Blocks the current task untill a return value can be extracted from the provided future.
 /// Does not poll all futures to completion.
-/// If you want to complete all futures, use the [`complete_all`] function.
 pub fn block_on<F: Future + 'static>(future: F) -> F::Output {
     executor::EXECUTOR.with(|e| e.block_on(spawn(future)))
 }
diff --git a/packages/pros-async/src/lib.rs b/packages/pros-async/src/lib.rs
index f091ffb8..eae8e512 100644
--- a/packages/pros-async/src/lib.rs
+++ b/packages/pros-async/src/lib.rs
@@ -1,5 +1,17 @@
+//! Tiny async runtime and robot traits for `pros-rs`.
+//! The async executor supports spawning tasks and blocking on futures.
+//! It has a reactor to improve the performance of some futures.
+
 #![no_std]
 #![feature(negative_impls)]
+#![warn(
+    missing_docs,
+    rust_2018_idioms,
+    missing_debug_implementations,
+    unsafe_op_in_unsafe_fn,
+    clippy::missing_const_for_fn
+)]
+
 extern crate alloc;
 
 pub mod async_runtime;
diff --git a/packages/pros-core/src/error.rs b/packages/pros-core/src/error.rs
index 2cf9065d..f129cede 100644
--- a/packages/pros-core/src/error.rs
+++ b/packages/pros-core/src/error.rs
@@ -8,6 +8,7 @@
 /// A result type that makes returning errors easier.
 pub type Result<T = ()> = core::result::Result<T, alloc::boxed::Box<dyn core::error::Error>>;
 
+/// Gets the value of errno and sets errno to 0.
 pub fn take_errno() -> i32 {
     let err = unsafe { *pros_sys::__errno() };
     if err != 0 {
diff --git a/packages/pros-core/src/lib.rs b/packages/pros-core/src/lib.rs
index 29b52f70..52d6bc5d 100644
--- a/packages/pros-core/src/lib.rs
+++ b/packages/pros-core/src/lib.rs
@@ -1,5 +1,23 @@
+//! Low level core functionality for [`pros-rs`](https://crates.io/crates/pros).
+//! The core crate is used in all other crates in the pros-rs ecosystem.
+//!
+//! Included in this crate:
+//! - Global allocator: [`pros_alloc`]
+//! - Competition state checking: [`competition`]
+//! - Errno handling: [`error`]
+//! - Serial terminal printing: [`io`]
+//! - No-std [`Instant`](time::Instant)s: [`time`]
+
 #![no_std]
 #![feature(error_in_core)]
+#![warn(
+    missing_docs,
+    rust_2018_idioms,
+    missing_debug_implementations,
+    unsafe_op_in_unsafe_fn,
+    clippy::missing_const_for_fn
+)]
+
 extern crate alloc;
 
 pub mod competition;
diff --git a/packages/pros-core/src/pros_alloc/mod.rs b/packages/pros-core/src/pros_alloc/mod.rs
index 7eed7108..bd4c949c 100644
--- a/packages/pros-core/src/pros_alloc/mod.rs
+++ b/packages/pros-core/src/pros_alloc/mod.rs
@@ -1,3 +1,5 @@
+//! Simple allocator using the VEX libc allocation functions in vexos and jemalloc in the sim.
+
 #[cfg(target_os = "vexos")]
 mod vexos;
 #[cfg(target_arch = "wasm32")]
diff --git a/packages/pros-devices/src/lib.rs b/packages/pros-devices/src/lib.rs
index ed852c77..9debf368 100644
--- a/packages/pros-devices/src/lib.rs
+++ b/packages/pros-devices/src/lib.rs
@@ -18,6 +18,14 @@
 //! - [`devices::controller`] provides types for interacting with the V5 controller.
 
 #![no_std]
+#![warn(
+    missing_docs,
+    rust_2018_idioms,
+    missing_debug_implementations,
+    unsafe_op_in_unsafe_fn,
+    clippy::missing_const_for_fn
+)]
+
 extern crate alloc;
 
 pub mod adi;
diff --git a/packages/pros-panic/src/lib.rs b/packages/pros-panic/src/lib.rs
index 6b3b6adf..f3608b2d 100644
--- a/packages/pros-panic/src/lib.rs
+++ b/packages/pros-panic/src/lib.rs
@@ -1,4 +1,15 @@
+//! Panic handler implementation for [`pros-rs`](https://crates.io/crates/pros-rs).
+//! Supports printing a backtrace when running in the simulator.
+//! If the `display_panics` feature is enabled, it will also display the panic message on the V5 Brain display.
+
 #![no_std]
+#![warn(
+    missing_docs,
+    rust_2018_idioms,
+    missing_debug_implementations,
+    unsafe_op_in_unsafe_fn,
+    clippy::missing_const_for_fn
+)]
 extern crate alloc;
 
 use alloc::format;
@@ -8,9 +19,10 @@ use pros_core::eprintln;
 use pros_devices::Screen;
 use pros_sync::task;
 
+#[cfg(target_arch = "wasm32")]
 extern "C" {
     /// Prints a backtrace to the debug console
-    pub fn sim_log_backtrace();
+    fn sim_log_backtrace();
 }
 
 #[panic_handler]
diff --git a/packages/pros-sync/src/lib.rs b/packages/pros-sync/src/lib.rs
index 621f1c3d..1028bf56 100644
--- a/packages/pros-sync/src/lib.rs
+++ b/packages/pros-sync/src/lib.rs
@@ -1,4 +1,17 @@
+//! Synchronization primitives and FreeRTOS task management for [`pros-rs`].
+//!
+//! The synchronization types are modeled after the standard library.
+//! For more information on the task api, see the [`task`] module.
+
 #![no_std]
+#![warn(
+    missing_docs,
+    rust_2018_idioms,
+    missing_debug_implementations,
+    unsafe_op_in_unsafe_fn,
+    clippy::missing_const_for_fn
+)]
+
 extern crate alloc;
 
 pub mod sync;
diff --git a/packages/pros-sync/src/task/mod.rs b/packages/pros-sync/src/task/mod.rs
index df11ec25..d705037a 100644
--- a/packages/pros-sync/src/task/mod.rs
+++ b/packages/pros-sync/src/task/mod.rs
@@ -295,7 +295,7 @@ map_errno! {
 ///
 /// This function will block the entire task, preventing concurrent
 /// execution of async code. When in an async context, it is recommended
-/// to use [`sleep`] instead.
+/// to use the `sleep` function in [`pros_async`](https://crates.io/crates/pros-async) instead.
 pub fn delay(duration: Duration) {
     unsafe { pros_sys::delay(duration.as_millis() as u32) }
 }
diff --git a/packages/pros/src/lib.rs b/packages/pros/src/lib.rs
index e697d83f..ba55a1b0 100644
--- a/packages/pros/src/lib.rs
+++ b/packages/pros/src/lib.rs
@@ -28,6 +28,7 @@
 //!       loop {
 //!         // Do something
 //!        sleep(Duration::from_millis(20)).await;
+//!       }
 //!    }
 //! }
 //! async_robot!(Robot);
@@ -44,23 +45,15 @@
 //!      loop {
 //!       // Do something
 //!      delay(Duration::from_millis(20));
+//!      }
 //!    }
 //! }
 //! sync_robot!(Robot);
 //! ```
 //!
 //! You may have noticed the `#[derive(Default)]` attribute on these Robot structs.
-//! If you want to learn why, look at the docs for [`async_robot`] or [`sync_robot`].
-
-#![feature(error_in_core, negative_impls)]
+//! If you want to learn why, look at the docs for [`pros_async::async_robot`] or [`pros_sync::sync_robot`].
 #![no_std]
-#![warn(
-    missing_docs,
-    rust_2018_idioms,
-    missing_debug_implementations,
-    unsafe_op_in_unsafe_fn,
-    clippy::missing_const_for_fn
-)]
 
 #[cfg(feature = "async")]
 pub use pros_async as async_runtime;

From 519d4069afe64e5f0011af9f528b6cc4fbe71b6c Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sun, 4 Feb 2024 16:11:57 -0800
Subject: [PATCH 60/96] fix: broken pros-devices manifest

---
 packages/pros-devices/Cargo.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/packages/pros-devices/Cargo.toml b/packages/pros-devices/Cargo.toml
index c9819c33..c919df49 100644
--- a/packages/pros-devices/Cargo.toml
+++ b/packages/pros-devices/Cargo.toml
@@ -6,7 +6,7 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-pros-core = { verion = "0.1.0", path = "../pros-core" }
+pros-core = { version = "0.1.0", path = "../pros-core" }
 pros-sys = { path = "../pros-sys", version = "0.6.0", features = ["xapi"] }
 snafu = { version = "0.8.0", default-features = false, features = [
     "rust_1_61",

From 1c208f06c88f378feea5f494c579f4c544e421b7 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sun, 4 Feb 2024 16:38:50 -0800
Subject: [PATCH 61/96] docs: fix most documentation warnings

---
 packages/pros-async/src/lib.rs             |  2 +-
 packages/pros-devices/src/adi/mod.rs       |  4 +-
 packages/pros-devices/src/color.rs         | 14 +++---
 packages/pros-devices/src/lib.rs           |  8 ++--
 packages/pros-devices/src/peripherals.rs   |  2 +-
 packages/pros-devices/src/screen.rs        |  2 +-
 packages/pros-devices/src/smart/imu.rs     |  2 +-
 packages/pros-devices/src/smart/mod.rs     |  4 +-
 packages/pros-devices/src/smart/motor.rs   |  6 +--
 packages/pros-devices/src/smart/optical.rs |  8 ++--
 packages/pros-sync/src/lib.rs              |  4 +-
 packages/pros-sync/src/task/mod.rs         |  4 +-
 packages/pros-sys/src/apix.rs              | 50 +++++++++++-----------
 packages/pros-sys/src/motor.rs             |  2 +-
 packages/pros-sys/src/rtos.rs              | 14 +++---
 packages/pros-sys/src/vision.rs            | 16 +++----
 16 files changed, 69 insertions(+), 73 deletions(-)

diff --git a/packages/pros-async/src/lib.rs b/packages/pros-async/src/lib.rs
index eae8e512..bc561d5c 100644
--- a/packages/pros-async/src/lib.rs
+++ b/packages/pros-async/src/lib.rs
@@ -60,7 +60,7 @@ pub fn sleep(duration: core::time::Duration) -> SleepFuture {
 pub trait AsyncRobot {
     /// Runs during the operator control period.
     /// This function may be called more than once.
-    /// For that reason, do not use [`Peripherals::take`](prelude::Peripherals::take) in this function.
+    /// For that reason, do not use `Peripherals::take`in this function.
     fn opcontrol(&mut self) -> impl Future<Output = Result> {
         async { Ok(()) }
     }
diff --git a/packages/pros-devices/src/adi/mod.rs b/packages/pros-devices/src/adi/mod.rs
index 6c814eb6..5834ca26 100644
--- a/packages/pros-devices/src/adi/mod.rs
+++ b/packages/pros-devices/src/adi/mod.rs
@@ -49,7 +49,7 @@ impl AdiPort {
     ///
     /// Creating new `AdiPort`s is inherently unsafe due to the possibility of constructing
     /// more than one device on the same port index allowing multiple mutable references to
-    /// the same hardware device. Prefer using [`Peripherals`] to register devices if possible.
+    /// the same hardware device. Prefer using [`crate::peripherals::Peripherals`] to register devices if possible.
     pub const unsafe fn new(index: u8, expander_index: Option<u8>) -> Self {
         Self {
             index,
@@ -101,7 +101,7 @@ pub trait AdiDevice {
     /// Ports are indexed starting from 1.
     fn expander_port_index(&self) -> Option<u8>;
 
-    /// Get the variant of [`SmartDeviceType`] that this device is associated with.
+    /// Get the variant of [`AdiDeviceType`] that this device is associated with.
     fn device_type(&self) -> AdiDeviceType;
 }
 
diff --git a/packages/pros-devices/src/color.rs b/packages/pros-devices/src/color.rs
index c4e1e140..94b3a276 100644
--- a/packages/pros-devices/src/color.rs
+++ b/packages/pros-devices/src/color.rs
@@ -304,19 +304,19 @@ impl Rgb {
     pub const YELLOW: Rgb = Rgb::from_raw(pros_sys::COLOR_YELLOW);
     /// #9ACD32 color constant.
     pub const YELLOW_GREEN: Rgb = Rgb::from_raw(pros_sys::COLOR_YELLOW_GREEN);
-    /// Alias to [`COLOR_DARK_GREY`].
+    /// Alias to [`Self::SLATE_GRAY`].
     pub const DARK_GREY: Rgb = Rgb::from_raw(pros_sys::COLOR_DARK_GREY);
-    /// Alias tp [`COLOR_DARK_SLATE_GREY`].
+    /// Alias to [`Self::DARK_SLATE_GRAY`].
     pub const DARK_SLATE_GREY: Rgb = Rgb::from_raw(pros_sys::COLOR_DARK_SLATE_GREY);
-    /// Alias to [`COLOR_DIM_GREY`].
+    /// Alias to [`Self::DIM_GRAY`].
     pub const DIM_GREY: Rgb = Rgb::from_raw(pros_sys::COLOR_DIM_GREY);
-    /// Alias to [`COLOR_GREY`].
+    /// Alias to [`Self::GRAY`].
     pub const GREY: Rgb = Rgb::from_raw(pros_sys::COLOR_GREY);
-    /// Alias to [`COLOR_LIGHT_GREY`].
+    /// Alias to [`Self::LIGHT_GRAY`].
     pub const LIGHT_GREY: Rgb = Rgb::from_raw(pros_sys::COLOR_LIGHT_GREY);
-    /// Alias to [`COLOR_LIGHT_SLATE_GREY`].
+    /// Alias to [`Self::LIGHT_SLATE_GRAY`].
     pub const LIGHT_SLATE_GREY: Rgb = Rgb::from_raw(pros_sys::COLOR_LIGHT_SLATE_GREY);
-    /// Alias to [`COLOR_SLATE_GREY`].
+    /// Alias to [`Self::SLATE_GREY`].
     pub const SLATE_GREY: Rgb = Rgb::from_raw(pros_sys::COLOR_SLATE_GREY);
 
     const BITMASK: u32 = 0b11111111;
diff --git a/packages/pros-devices/src/lib.rs b/packages/pros-devices/src/lib.rs
index 9debf368..63aba64a 100644
--- a/packages/pros-devices/src/lib.rs
+++ b/packages/pros-devices/src/lib.rs
@@ -11,11 +11,11 @@
 //!
 //! # Organization
 //!
-//! - [`devices::smart`] contains abstractions and types for smart port connected devices.
-//! - [`devices::adi`] contains abstractions for three wire ADI connected devices.
-//! - [`devices::battery`] provides functions for getting information about the currently connected
+//! - [`smart`] contains abstractions and types for smart port connected devices.
+//! - [`adi`] contains abstractions for three wire ADI connected devices.
+//! - [`battery`] provides functions for getting information about the currently connected
 //!   battery.
-//! - [`devices::controller`] provides types for interacting with the V5 controller.
+//! - [`controller`] provides types for interacting with the V5 controller.
 
 #![no_std]
 #![warn(
diff --git a/packages/pros-devices/src/peripherals.rs b/packages/pros-devices/src/peripherals.rs
index 8d9733f6..f99c769d 100644
--- a/packages/pros-devices/src/peripherals.rs
+++ b/packages/pros-devices/src/peripherals.rs
@@ -208,7 +208,7 @@ impl DynamicPeripherals {
         Some(unsafe { SmartPort::new(port_index as u8 + 1) })
     }
 
-    /// Creates an [`AdiSlot`] only if one has not been created on the given slot before.
+    /// Creates an [`AdiPort`] only if one has not been created on the given slot before.
     ///
     /// # Panics
     ///
diff --git a/packages/pros-devices/src/screen.rs b/packages/pros-devices/src/screen.rs
index 29b069d9..b89ae6c5 100644
--- a/packages/pros-devices/src/screen.rs
+++ b/packages/pros-devices/src/screen.rs
@@ -350,7 +350,7 @@ impl Screen {
     ///
     /// Creating new `Screen`s is inherently unsafe due to the possibility of constructing
     /// more than one screen at once allowing multiple mutable references to the same
-    /// hardware device. Prefer using [`Peripherals`] to register devices if possible.
+    /// hardware device. Prefer using [`crate::peripherals::Peripherals`] to register devices if possible.
     pub unsafe fn new() -> Self {
         Self {
             current_line: 0,
diff --git a/packages/pros-devices/src/smart/imu.rs b/packages/pros-devices/src/smart/imu.rs
index 2ec5223e..b60c5ba6 100644
--- a/packages/pros-devices/src/smart/imu.rs
+++ b/packages/pros-devices/src/smart/imu.rs
@@ -48,7 +48,7 @@ impl InertialSensor {
 
     /// Calibrate IMU asynchronously.
     ///
-    /// Returns an [`InertialCalibrationFuture`] that is be polled until the IMU status flag reports the sensor as
+    /// Returns an [`InertialCalibrateFuture`] that is be polled until the IMU status flag reports the sensor as
     /// no longer calibrating.
     /// There a 3 second timeout that will return [`InertialError::CalibrationTimedOut`] if the timeout is exceeded.
     pub fn calibrate(&mut self) -> InertialCalibrateFuture {
diff --git a/packages/pros-devices/src/smart/mod.rs b/packages/pros-devices/src/smart/mod.rs
index eb591769..158a2ae6 100644
--- a/packages/pros-devices/src/smart/mod.rs
+++ b/packages/pros-devices/src/smart/mod.rs
@@ -13,7 +13,7 @@
 //!
 //! Most devices can be created with a `new` function that generally takes a port number along with other
 //! device-specific parameters. All sensors are thread safe, however sensors can only be safely constructed
-//! using the [`Peripherals`] API.
+//! using the [`crate::peripherals`] API.
 //!
 //! In cases where PROS gives the option of a blocking or non-blocking API,
 //! the blocking API is used for a synchronous method and the non-blocking API is used to create a future.
@@ -108,7 +108,7 @@ impl SmartPort {
     /// Creating new `SmartPort`s is inherently unsafe due to the possibility of constructing
     /// more than one device on the same port index allowing multiple mutable references to
     /// the same hardware device. This violates rust's borrow checked guarantees. Prefer using
-    /// [`Peripherals`] to register devices if possible.
+    /// [`crate::peripherals::Peripherals`] to register devices if possible.
     ///
     /// # Examples
     ///
diff --git a/packages/pros-devices/src/smart/motor.rs b/packages/pros-devices/src/smart/motor.rs
index 5b8efaf3..b6310001 100644
--- a/packages/pros-devices/src/smart/motor.rs
+++ b/packages/pros-devices/src/smart/motor.rs
@@ -1,10 +1,6 @@
 //! Motors and gearsets.
 //!
-//! The motor API is similar to that of [`sensors`](crate::sensors).
-//! Multiple motors can be created on the same port and they are thread safe.
-//!
-//! Motors can be created with the [`Motor::new`] function.
-//! Once created they can be controlled with one three functions:
+//! Once created motors can be controlled with one three functions:
 //! [`Motor::set_output`], [`Motor::set_raw_output`], and [`Motor::set_voltage`].
 //! [`Motor::set_output`] takes in a f32 from -1 to 1 for ease of use with [`Controller`](crate::controller::Controller)s.
 //! [`Motor::set_raw_output`] takes in an i8 from -127 to 127.
diff --git a/packages/pros-devices/src/smart/optical.rs b/packages/pros-devices/src/smart/optical.rs
index 464e3b7b..d529887d 100644
--- a/packages/pros-devices/src/smart/optical.rs
+++ b/packages/pros-devices/src/smart/optical.rs
@@ -84,7 +84,7 @@ impl OpticalSensor {
     /// due to less available light being read by the sensor.
     ///
     /// Time value must be a [`Duration`] between 3 and 712 milliseconds. See
-    /// https://www.vexforum.com/t/v5-optical-sensor-refresh-rate/109632/9 for
+    /// <https://www.vexforum.com/t/v5-optical-sensor-refresh-rate/109632/9> for
     /// more information.
     pub fn set_integration_time(&mut self, time: Duration) -> Result<(), OpticalError> {
         if time < Self::MIN_INTEGRATION_TIME || time > Self::MAX_INTEGRATION_TIME {
@@ -189,7 +189,7 @@ impl OpticalSensor {
 
     /// Get the most recent gesture data from the sensor. Gestures will be cleared after 500mS.
     ///
-    /// Will return [`OpticalError::GestureDetectionNotEnabled`] if the sensor is not
+    /// Will return [`OpticalError::GestureDetectionDisabled`] if the sensor is not
     /// confgured to detect gestures.
     pub fn last_gesture_direction(&self) -> Result<GestureDirection, OpticalError> {
         if !self.gesture_detection_enabled {
@@ -201,7 +201,7 @@ impl OpticalSensor {
 
     /// Get the most recent raw gesture data from the sensor.
     ///
-    /// Will return [`OpticalError::GestureDetectionNotEnabled`] if the sensor is not
+    /// Will return [`OpticalError::GestureDetectionDisabled`] if the sensor is not
     /// confgured to detect gestures.
     pub fn last_gesture_raw(&self) -> Result<GestureRaw, OpticalError> {
         if !self.gesture_detection_enabled {
@@ -352,7 +352,7 @@ pub enum OpticalError {
 
     /// Integration time must be between 3 and 712 milliseconds.
     ///
-    /// See https://www.vexforum.com/t/v5-optical-sensor-refresh-rate/109632/9 for more information.
+    /// See <https://www.vexforum.com/t/v5-optical-sensor-refresh-rate/109632/9> for more information.
     InvalidIntegrationTime,
 
     /// Gesture detection is not enabled for this sensor.
diff --git a/packages/pros-sync/src/lib.rs b/packages/pros-sync/src/lib.rs
index 1028bf56..c8c96603 100644
--- a/packages/pros-sync/src/lib.rs
+++ b/packages/pros-sync/src/lib.rs
@@ -21,11 +21,11 @@ use pros_core::error::Result;
 pub use sync::*;
 
 /// A trait for robot code that runs without the async executor spun up.
-/// This trait isn't recommended. See [`AsyncRobot`] for the preferred trait to run robot code.
+/// This trait isn't recommended. See `AsyncRobot` in [pros-async](https://crates.io/crates/pros-async) for the preferred trait to run robot code.
 pub trait SyncRobot {
     /// Runs during the operator control period.
     /// This function may be called more than once.
-    /// For that reason, do not use [`Peripherals::take`](prelude::Peripherals::take) in this function.
+    /// For that reason, do not use `Peripherals::take` in this function.
     fn opcontrol(&mut self) -> Result {
         Ok(())
     }
diff --git a/packages/pros-sync/src/task/mod.rs b/packages/pros-sync/src/task/mod.rs
index d705037a..61395519 100644
--- a/packages/pros-sync/src/task/mod.rs
+++ b/packages/pros-sync/src/task/mod.rs
@@ -30,7 +30,7 @@ use snafu::Snafu;
 
 /// Creates a task to be run 'asynchronously' (More information at the [FreeRTOS docs](https://www.freertos.org/taskandcr.html)).
 /// Takes in a closure that can move variables if needed.
-/// If your task has a loop it is advised to use [`sleep(duration)`](sleep) so that the task does not take up necessary system resources.
+/// If your task has a loop it is advised to use [`delay`] so that the task does not take up necessary system resources.
 /// Tasks should be long-living; starting many tasks can be slow and is usually not necessary.
 pub fn spawn<F>(f: F) -> TaskHandle
 where
@@ -201,7 +201,7 @@ pub enum TaskState {
     Running,
     /// The task is currently yielding but may run in the future
     Ready,
-    /// The task is blocked. For example, it may be [`sleep`]ing or waiting on a mutex.
+    /// The task is blocked. For example, it may be [`delay`]ing or waiting on a mutex.
     /// Tasks that are in this state will usually return to the task queue after a set timeout.
     Blocked,
     /// The task is suspended. For example, it may be waiting on a mutex or semaphore.
diff --git a/packages/pros-sys/src/apix.rs b/packages/pros-sys/src/apix.rs
index f155daf4..ff5daa95 100644
--- a/packages/pros-sys/src/apix.rs
+++ b/packages/pros-sys/src/apix.rs
@@ -32,7 +32,7 @@ identifier.
 When used with serctl, the extra argument must be the little endian
 representation of the stream identifier (e.g. "sout" -> 0x74756f73)
 
-Visit https://pros.cs.purdue.edu/v5/tutorials/topical/filesystem.html#serial
+Visit <https://pros.cs.purdue.edu/v5/tutorials/topical/filesystem.html#serial>
 to learn more.
  */
 pub const SERCTL_ACTIVATE: u32 = 10;
@@ -43,7 +43,7 @@ identifier.
 When used with serctl, the extra argument must be the little endian
 representation of the stream identifier (e.g. "sout" -> 0x74756f73)
 
-Visit https://pros.cs.purdue.edu/v5/tutorials/topical/filesystem.html#serial
+Visit <https://pros.cs.purdue.edu/v5/tutorials/topical/filesystem.html#serial>
 to learn more.
  */
 pub const SERCTL_DEACTIVATE: u32 = 11;
@@ -53,7 +53,7 @@ Action macro to pass into fdctl that enables blocking writes for the file
 The extra argument is not used with this action, provide any value (e.g.
 NULL) instead
 
-Visit https://pros.cs.purdue.edu/v5/tutorials/topical/filesystem.html#serial
+Visit <https://pros.cs.purdue.edu/v5/tutorials/topical/filesystem.html#serial>
 to learn more.
  */
 pub const SERCTL_BLKWRITE: u32 = 12;
@@ -63,7 +63,7 @@ Action macro to pass into fdctl that makes writes non-blocking for the file
 The extra argument is not used with this action, provide any value (e.g.
 NULL) instead
 
-Visit https://pros.cs.purdue.edu/v5/tutorials/topical/filesystem.html#serial
+Visit <https://pros.cs.purdue.edu/v5/tutorials/topical/filesystem.html#serial>
 to learn more.
  */
 pub const SERCTL_NOBLKWRITE: u32 = 13;
@@ -74,7 +74,7 @@ capabilities
 The extra argument is not used with this action, provide any value (e.g.
 NULL) instead
 
-Visit https://pros.cs.purdue.edu/v5/tutorials/topical/filesystem.html#serial
+Visit <https://pros.cs.purdue.edu/v5/tutorials/topical/filesystem.html#serial>
 to learn more.
  */
 pub const SERCTL_ENABLE_COBS: u32 = 14;
@@ -85,7 +85,7 @@ capabilities
 The extra argument is not used with this action, provide any value (e.g.
 NULL) instead
 
-Visit https://pros.cs.purdue.edu/v5/tutorials/topical/filesystem.html#serial
+Visit <https://pros.cs.purdue.edu/v5/tutorials/topical/filesystem.html#serial>
 to learn more.
  */
 pub const SERCTL_DISABLE_COBS: u32 = 15;
@@ -117,7 +117,7 @@ extern "C" {
     Unblocks a task in the Blocked state (e.g. waiting for a delay, on a
     semaphore, etc.).
 
-    See https://pros.cs.purdue.edu/v5/extended/multitasking.html#abort_delay for
+    See <https://pros.cs.purdue.edu/v5/extended/multitasking.html#abort_delay> for
     details.
      */
     pub fn task_abort_delay(task: task_t) -> bool;
@@ -148,7 +148,7 @@ extern "C" {
     Creates a recursive mutex which can be locked recursively by the owner.
 
     See
-    https://pros.cs.purdue.edu/v5/extended/multitasking.html#recursive_mutexes
+    <https://pros.cs.purdue.edu/v5/extended/multitasking.html#recursive_mutexes>
     for details.
 
     \return A newly created recursive mutex.
@@ -158,7 +158,7 @@ extern "C" {
     Takes a recursive mutex.
 
     See
-    https://pros.cs.purdue.edu/v5/extended/multitasking.html#recursive_mutexes
+    <https://pros.cs.purdue.edu/v5/extended/multitasking.html#recursive_mutexes>
     for details.
 
     \param mutex
@@ -173,7 +173,7 @@ extern "C" {
     Gives a recursive mutex.
 
     See
-    https://pros.cs.purdue.edu/v5/extended/multitasking.html#recursive_mutexes
+    <https://pros.cs.purdue.edu/v5/extended/multitasking.html#recursive_mutexes>
     for details.
 
     \param mutex
@@ -185,7 +185,7 @@ extern "C" {
     /**
     Returns a handle to the current owner of a mutex.
 
-    See https://pros.cs.purdue.edu/v5/extended/multitasking.html#extra for
+    See <https://pros.cs.purdue.edu/v5/extended/multitasking.html#extra> for
     details.
 
     \param mutex
@@ -198,7 +198,7 @@ extern "C" {
     /**
     Creates a counting sempahore.
 
-    See https://pros.cs.purdue.edu/v5/tutorials/multitasking.html#semaphores for
+    See <https://pros.cs.purdue.edu/v5/tutorials/multitasking.html#semaphores> for
     details.
 
     \param max_count
@@ -213,7 +213,7 @@ extern "C" {
     /**
     Deletes a semaphore (or binary semaphore)
 
-    See https://pros.cs.purdue.edu/v5/extended/multitasking.html#semaphores for
+    See <https://pros.cs.purdue.edu/v5/extended/multitasking.html#semaphores> for
     details.
 
     \param sem
@@ -224,7 +224,7 @@ extern "C" {
     Creates a binary semaphore.
 
     See
-    https://pros.cs.purdue.edu/v5/extended/multitasking#.htmlbinary_semaphores
+    <https://pros.cs.purdue.edu/v5/extended/multitasking#.htmlbinary_semaphores>
     for details.
 
     \return A newly created semaphore.
@@ -234,7 +234,7 @@ extern "C" {
     Waits for the semaphore's value to be greater than 0. If the value is already
     greater than 0, this function immediately returns.
 
-    See https://pros.cs.purdue.edu/v5/tutorials/multitasking.html#semaphores for
+    See <https://pros.cs.purdue.edu/v5/tutorials/multitasking.html#semaphores> for
     details.
 
     \param sem
@@ -252,7 +252,7 @@ extern "C" {
     /**
     Increments a semaphore's value.
 
-    See https://pros.cs.purdue.edu/v5/tutorials/multitasking.html#semaphores for
+    See <https://pros.cs.purdue.edu/v5/tutorials/multitasking.html#semaphores> for
     details.
 
     \param sem
@@ -266,7 +266,7 @@ extern "C" {
     /**
     Returns the current value of the semaphore.
 
-    See https://pros.cs.purdue.edu/v5/extended/multitasking.html#extra for
+    See <https://pros.cs.purdue.edu/v5/extended/multitasking.html#extra> for
     details.
 
     \param sem
@@ -279,7 +279,7 @@ extern "C" {
     /**
     Creates a queue.
 
-    See https://pros.cs.purdue.edu/v5/extended/multitasking.html#queues for
+    See <https://pros.cs.purdue.edu/v5/extended/multitasking.html#queues> for
     details.
 
     \param length
@@ -295,7 +295,7 @@ extern "C" {
     Posts an item to the front of a queue. The item is queued by copy, not by
     reference.
 
-    See https://pros.cs.purdue.edu/v5/extended/multitasking.html#queues for
+    See <https://pros.cs.purdue.edu/v5/extended/multitasking.html#queues> for
     details.
 
     \param queue
@@ -314,7 +314,7 @@ extern "C" {
     Posts an item to the end of a queue. The item is queued by copy, not by
     reference.
 
-    See https://pros.cs.purdue.edu/v5/extended/multitasking.html#queues for
+    See <https://pros.cs.purdue.edu/v5/extended/multitasking.html#queues> for
     details.
 
     \param queue
@@ -332,7 +332,7 @@ extern "C" {
     /**
     Receive an item from a queue without removing the item from the queue.
 
-    See https://pros.cs.purdue.edu/v5/extended/multitasking.html#queues for
+    See <https://pros.cs.purdue.edu/v5/extended/multitasking.html#queues> for
     details.
 
     \param queue
@@ -349,7 +349,7 @@ extern "C" {
     /**
     Receive an item from the queue.
 
-    See https://pros.cs.purdue.edu/v5/extended/multitasking.html#queues for
+    See <https://pros.cs.purdue.edu/v5/extended/multitasking.html#queues> for
     details.
 
     \param queue
@@ -368,7 +368,7 @@ extern "C" {
     /**
     Return the number of messages stored in a queue.
 
-    See https://pros.cs.purdue.edu/v5/extended/multitasking.html#queues for
+    See <https://pros.cs.purdue.edu/v5/extended/multitasking.html#queues> for
     details.
 
     \param queue
@@ -380,7 +380,7 @@ extern "C" {
     /**
     Return the number of spaces left in a queue.
 
-    See https://pros.cs.purdue.edu/v5/extended/multitasking.html#queues for
+    See <https://pros.cs.purdue.edu/v5/extended/multitasking.html#queues> for
     details.
 
     \param queue
@@ -392,7 +392,7 @@ extern "C" {
     /**
     Delete a queue.
 
-    See https://pros.cs.purdue.edu/v5/extended/multitasking.html#queues for
+    See <https://pros.cs.purdue.edu/v5/extended/multitasking.html#queues> for
     details.
 
     \param queue
diff --git a/packages/pros-sys/src/motor.rs b/packages/pros-sys/src/motor.rs
index 0b2b0f0e..b893904b 100644
--- a/packages/pros-sys/src/motor.rs
+++ b/packages/pros-sys/src/motor.rs
@@ -449,7 +449,7 @@ extern "C" {
 
     \param port
            The V5 port number from 1-21
-    \param[in] timestamp
+    \param\[in] timestamp
                A pointer to a time in milliseconds for which the encoder count
                will be returned. If NULL, the timestamp at which the encoder
                count was read will not be supplied
diff --git a/packages/pros-sys/src/rtos.rs b/packages/pros-sys/src/rtos.rs
index 402da0e5..480bd1c7 100644
--- a/packages/pros-sys/src/rtos.rs
+++ b/packages/pros-sys/src/rtos.rs
@@ -173,7 +173,7 @@ extern "C" {
     pub fn task_get_current() -> task_t;
     /** Sends a simple notification to task and increments the notification counter.
 
-    See https://pros.cs.purdue.edu/v5/tutorials/topical/notifications.html for
+    See <https://pros.cs.purdue.edu/v5/tutorials/topical/notifications.html> for
     details.
 
     \param task
@@ -184,7 +184,7 @@ extern "C" {
     /** Utilizes task notifications to wait until specified task is complete and deleted,
     then continues to execute the program. Analogous to std::thread::join in C++.
 
-    See https://pros.cs.purdue.edu/v5/tutorials/topical/notifications.html for
+    See <https://pros.cs.purdue.edu/v5/tutorials/topical/notifications.html> for
     details.
 
     \param task
@@ -196,7 +196,7 @@ extern "C" {
     retrieve the value of the notification in the target task before modifying
     the notification value.
 
-    See https://pros.cs.purdue.edu/v5/tutorials/topical/notifications.html for
+    See <https://pros.cs.purdue.edu/v5/tutorials/topical/notifications.html> for
     details.
 
     \param task
@@ -222,7 +222,7 @@ extern "C" {
     ) -> u32;
     /** Waits for a notification to be nonzero.
 
-    See https://pros.cs.purdue.edu/v5/tutorials/topical/notifications.html for
+    See <https://pros.cs.purdue.edu/v5/tutorials/topical/notifications.html> for
     details.
 
     \param clear_on_exit
@@ -237,7 +237,7 @@ extern "C" {
     pub fn task_notify_take(clear_on_exit: bool, timeout: u32) -> u32;
     /** Clears the notification for a task.
 
-    See https://pros.cs.purdue.edu/v5/tutorials/topical/notifications.html for
+    See <https://pros.cs.purdue.edu/v5/tutorials/topical/notifications.html> for
     details.
 
     \param task
@@ -247,7 +247,7 @@ extern "C" {
     pub fn task_notify_clear(task: task_t) -> bool;
     /** Creates a mutex.
 
-    See https://pros.cs.purdue.edu/v5/tutorials/topical/multitasking.html#mutexes
+    See <https://pros.cs.purdue.edu/v5/tutorials/topical/multitasking.html#mutexes>
     for details.
 
     \return A handle to a newly created mutex. If an error occurred, NULL will be
@@ -256,7 +256,7 @@ extern "C" {
     /** Takes and locks a mutex, waiting for up to a certain number of milliseconds
     before timing out.
 
-    See https://pros.cs.purdue.edu/v5/tutorials/topical/multitasking.html#mutexes
+    See <https://pros.cs.purdue.edu/v5/tutorials/topical/multitasking.html#mutexes>
     for details.
 
     \param mutex
diff --git a/packages/pros-sys/src/vision.rs b/packages/pros-sys/src/vision.rs
index 0c29c265..a3272d5d 100644
--- a/packages/pros-sys/src/vision.rs
+++ b/packages/pros-sys/src/vision.rs
@@ -213,7 +213,7 @@ extern "C" {
     ) -> vision_object_s_t;
     /**
     Gets the exposure parameter of the Vision Sensor. See
-    https://pros.cs.purdue.edu/v5/tutorials/topical/vision.html#exposure-setting
+    <https://pros.cs.purdue.edu/v5/tutorials/topical/vision.html#exposure-setting>
     for more details.
 
     This function uses the following values of errno when an error state is
@@ -224,7 +224,7 @@ extern "C" {
     \param port
            The V5 port number from 1-21
 
-    \return The current exposure setting from [0,150], PROS_ERR if an error
+    \return The current exposure setting from \[0,150], PROS_ERR if an error
     occurred
     */
     pub fn vision_get_exposure(port: u8) -> i32;
@@ -283,7 +283,7 @@ extern "C" {
            (0 is the largest item, 1 is the second largest, etc.)
     \param object_count
            The number of objects to read
-    \param[out] object_arr
+    \param\[out] object_arr
                 A pointer to copy the objects into
 
     \return The number of object signatures copied. This number will be less than
@@ -317,7 +317,7 @@ extern "C" {
            (0 is the largest item, 1 is the second largest, etc.)
     \param signature
            The signature ID [1-7] for which objects will be returned.
-    \param[out] object_arr
+    \param\[out] object_arr
                 A pointer to copy the objects into
 
     \return The number of object signatures copied. This number will be less than
@@ -351,7 +351,7 @@ extern "C" {
            (0 is the largest item, 1 is the second largest, etc.)
     \param color_code
            The vision_color_code_t for which objects will be returned
-    \param[out] object_arr
+    \param\[out] object_arr
                 A pointer to copy the objects into
 
     \return The number of object signatures copied. This number will be less than
@@ -388,7 +388,7 @@ extern "C" {
            The V5 port number from 1-21
     \param signature_id
            The signature id to store into
-    \param[in] signature_ptr
+    \param\[in] signature_ptr
                A pointer to the signature to save
 
     \return 1 if no errors occurred, PROS_ERR otherwise
@@ -418,7 +418,7 @@ extern "C" {
     pub fn vision_set_auto_white_balance(port: u8, enable: u8) -> i32;
     /**
     Sets the exposure parameter of the Vision Sensor. See
-    https://pros.cs.purdue.edu/v5/tutorials/topical/vision.html#exposure-setting
+    <https://pros.cs.purdue.edu/v5/tutorials/topical/vision.html#exposure-setting>
     for more details.
 
     This function uses the following values of errno when an error state is
@@ -429,7 +429,7 @@ extern "C" {
     \param port
            The V5 port number from 1-21
     \param percent
-           The new exposure setting from [0,150]
+           The new exposure setting from \[0,150]
 
     \return 1 if the operation was successful or PROS_ERR if the operation
     failed, setting errno.

From a9d579a846137d16c9a436fa1ace02afe18c8ce5 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Mon, 5 Feb 2024 14:27:31 -0800
Subject: [PATCH 62/96] refactor: remove useless async_runtime module

---
 packages/pros-async/src/async_runtime/mod.rs  | 23 -------------------
 .../src/{async_runtime => }/executor.rs       |  0
 packages/pros-async/src/lib.rs                | 22 +++++++++++++++---
 .../src/{async_runtime => }/reactor.rs        |  0
 packages/pros/src/lib.rs                      |  3 +--
 5 files changed, 20 insertions(+), 28 deletions(-)
 delete mode 100644 packages/pros-async/src/async_runtime/mod.rs
 rename packages/pros-async/src/{async_runtime => }/executor.rs (100%)
 rename packages/pros-async/src/{async_runtime => }/reactor.rs (100%)

diff --git a/packages/pros-async/src/async_runtime/mod.rs b/packages/pros-async/src/async_runtime/mod.rs
deleted file mode 100644
index acb1e545..00000000
--- a/packages/pros-async/src/async_runtime/mod.rs
+++ /dev/null
@@ -1,23 +0,0 @@
-//! A tiny async runtime.
-//!
-//! This runtime can be used outside of the main task, but it is reccomended to only use either
-//! real FreeRTOS tasks or this async runtime.
-
-use core::future::Future;
-
-use async_task::Task;
-
-pub(crate) mod executor;
-pub(crate) mod reactor;
-
-/// Runs a future in the background without having to await it
-/// To get the the return value you can await a task.
-pub fn spawn<T>(future: impl Future<Output = T> + 'static) -> Task<T> {
-    executor::EXECUTOR.with(|e| e.spawn(future))
-}
-
-/// Blocks the current task untill a return value can be extracted from the provided future.
-/// Does not poll all futures to completion.
-pub fn block_on<F: Future + 'static>(future: F) -> F::Output {
-    executor::EXECUTOR.with(|e| e.block_on(spawn(future)))
-}
diff --git a/packages/pros-async/src/async_runtime/executor.rs b/packages/pros-async/src/executor.rs
similarity index 100%
rename from packages/pros-async/src/async_runtime/executor.rs
rename to packages/pros-async/src/executor.rs
diff --git a/packages/pros-async/src/lib.rs b/packages/pros-async/src/lib.rs
index bc561d5c..24d6bbcd 100644
--- a/packages/pros-async/src/lib.rs
+++ b/packages/pros-async/src/lib.rs
@@ -1,6 +1,8 @@
 //! Tiny async runtime and robot traits for `pros-rs`.
 //! The async executor supports spawning tasks and blocking on futures.
 //! It has a reactor to improve the performance of some futures.
+//! It is recommended to use the `AsyncRobot` trait to run robot code.
+//! FreeRTOS tasks can still be used, but it is recommended to use only async tasks for performance.
 
 #![no_std]
 #![feature(negative_impls)]
@@ -14,13 +16,27 @@
 
 extern crate alloc;
 
-pub mod async_runtime;
 use core::{future::Future, task::Poll};
 
-use async_runtime::executor::EXECUTOR;
-pub use async_runtime::*;
+use async_task::Task;
+use executor::EXECUTOR;
 use pros_core::error::Result;
 
+mod executor;
+mod reactor;
+
+/// Runs a future in the background without having to await it
+/// To get the the return value you can await a task.
+pub fn spawn<T>(future: impl Future<Output = T> + 'static) -> Task<T> {
+    executor::EXECUTOR.with(|e| e.spawn(future))
+}
+
+/// Blocks the current task untill a return value can be extracted from the provided future.
+/// Does not poll all futures to completion.
+pub fn block_on<F: Future + 'static>(future: F) -> F::Output {
+    executor::EXECUTOR.with(|e| e.block_on(spawn(future)))
+}
+
 /// A future that will complete after the given duration.
 /// Sleep futures that are closer to completion are prioritized to improve accuracy.
 #[derive(Debug)]
diff --git a/packages/pros-async/src/async_runtime/reactor.rs b/packages/pros-async/src/reactor.rs
similarity index 100%
rename from packages/pros-async/src/async_runtime/reactor.rs
rename to packages/pros-async/src/reactor.rs
diff --git a/packages/pros/src/lib.rs b/packages/pros/src/lib.rs
index ba55a1b0..934e704e 100644
--- a/packages/pros/src/lib.rs
+++ b/packages/pros/src/lib.rs
@@ -72,7 +72,7 @@ pub use pros_sync as sync;
 /// This module is meant to be glob imported.
 pub mod prelude {
     #[cfg(feature = "async")]
-    pub use pros_async::{async_robot, async_runtime::*, sleep, AsyncRobot};
+    pub use pros_async::{async_robot, spawn, block_on, sleep, AsyncRobot};
     #[cfg(feature = "core")]
     pub use pros_core::{
         dbg, eprint, eprintln,
@@ -113,7 +113,6 @@ pub mod prelude {
     #[cfg(feature = "sync")]
     pub use pros_sync::{
         os_task_local, sync_robot,
-        task::{delay, spawn},
         SyncRobot,
     };
 }

From b9c7ba50a8e495b9e0ce9f0b044c15c2b61908eb Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sat, 10 Feb 2024 00:28:32 -0800
Subject: [PATCH 63/96] refactor: move FreeRTOS tasks into pros-core

---
 packages/pros-async/src/executor.rs           |  2 +-
 packages/pros-async/src/lib.rs                |  8 +-
 packages/pros-core/Cargo.toml                 |  1 +
 packages/pros-core/src/lib.rs                 |  2 +
 packages/{pros-sync => pros-core}/src/sync.rs |  2 +-
 .../src/task/local.rs                         |  0
 .../{pros-sync => pros-core}/src/task/mod.rs  |  3 +-
 packages/pros-panic/Cargo.toml                |  1 -
 packages/pros-panic/src/lib.rs                | 75 ++++++++++++++++++-
 packages/pros-sync/Cargo.toml                 |  1 -
 packages/pros-sync/src/lib.rs                 |  6 --
 packages/pros/examples/accessories.rs         |  4 +-
 packages/pros/src/lib.rs                      |  8 +-
 13 files changed, 87 insertions(+), 26 deletions(-)
 rename packages/{pros-sync => pros-core}/src/sync.rs (99%)
 rename packages/{pros-sync => pros-core}/src/task/local.rs (100%)
 rename packages/{pros-sync => pros-core}/src/task/mod.rs (99%)

diff --git a/packages/pros-async/src/executor.rs b/packages/pros-async/src/executor.rs
index 8db68da6..5628263b 100644
--- a/packages/pros-async/src/executor.rs
+++ b/packages/pros-async/src/executor.rs
@@ -9,7 +9,7 @@ use core::{
 };
 
 use async_task::{Runnable, Task};
-use pros_sync::{os_task_local, task::delay};
+use pros_core::{os_task_local, task::delay};
 use waker_fn::waker_fn;
 
 use super::reactor::Reactor;
diff --git a/packages/pros-async/src/lib.rs b/packages/pros-async/src/lib.rs
index 24d6bbcd..25b5cf5b 100644
--- a/packages/pros-async/src/lib.rs
+++ b/packages/pros-async/src/lib.rs
@@ -103,7 +103,7 @@ macro_rules! __gen_async_exports {
         #[doc(hidden)]
         #[no_mangle]
         extern "C" fn opcontrol() {
-            $crate::async_runtime::block_on(<$rbt as $crate::AsyncRobot>::opcontrol(unsafe {
+            $crate::block_on(<$rbt as $crate::AsyncRobot>::opcontrol(unsafe {
                 ROBOT
                     .as_mut()
                     .expect("Expected initialize to run before opcontrol")
@@ -114,7 +114,7 @@ macro_rules! __gen_async_exports {
         #[doc(hidden)]
         #[no_mangle]
         extern "C" fn autonomous() {
-            $crate::async_runtime::block_on(<$rbt as $crate::AsyncRobot>::auto(unsafe {
+            $crate::block_on(<$rbt as $crate::AsyncRobot>::auto(unsafe {
                 ROBOT
                     .as_mut()
                     .expect("Expected initialize to run before auto")
@@ -125,7 +125,7 @@ macro_rules! __gen_async_exports {
         #[doc(hidden)]
         #[no_mangle]
         extern "C" fn disabled() {
-            $crate::async_runtime::block_on(<$rbt as $crate::AsyncRobot>::disabled(unsafe {
+            $crate::block_on(<$rbt as $crate::AsyncRobot>::disabled(unsafe {
                 ROBOT
                     .as_mut()
                     .expect("Expected initialize to run before disabled")
@@ -136,7 +136,7 @@ macro_rules! __gen_async_exports {
         #[doc(hidden)]
         #[no_mangle]
         extern "C" fn competition_initialize() {
-            $crate::async_runtime::block_on(<$rbt as $crate::AsyncRobot>::comp_init(unsafe {
+            $crate::block_on(<$rbt as $crate::AsyncRobot>::comp_init(unsafe {
                 ROBOT
                     .as_mut()
                     .expect("Expected initialize to run before comp_init")
diff --git a/packages/pros-core/Cargo.toml b/packages/pros-core/Cargo.toml
index 712f7e04..0e974784 100644
--- a/packages/pros-core/Cargo.toml
+++ b/packages/pros-core/Cargo.toml
@@ -12,6 +12,7 @@ snafu = { version = "0.8.0", default-features = false, features = [
     "rust_1_61",
     "unstable-core-error",
 ] }
+spin = "0.9.8"
 
 [target.'cfg(target_arch = "wasm32")'.dependencies]
 dlmalloc = { version = "0.2.4", features = ["global"] }
diff --git a/packages/pros-core/src/lib.rs b/packages/pros-core/src/lib.rs
index 52d6bc5d..106242d5 100644
--- a/packages/pros-core/src/lib.rs
+++ b/packages/pros-core/src/lib.rs
@@ -24,4 +24,6 @@ pub mod competition;
 pub mod error;
 pub mod io;
 pub mod pros_alloc;
+pub mod sync;
+pub mod task;
 pub mod time;
diff --git a/packages/pros-sync/src/sync.rs b/packages/pros-core/src/sync.rs
similarity index 99%
rename from packages/pros-sync/src/sync.rs
rename to packages/pros-core/src/sync.rs
index 62afec98..7233996e 100644
--- a/packages/pros-sync/src/sync.rs
+++ b/packages/pros-core/src/sync.rs
@@ -4,7 +4,7 @@
 
 use core::{cell::UnsafeCell, fmt::Debug, mem};
 
-use pros_core::error::take_errno;
+use crate::error::take_errno;
 
 /// The basic mutex type.
 /// Mutexes are used to share variables between tasks safely.
diff --git a/packages/pros-sync/src/task/local.rs b/packages/pros-core/src/task/local.rs
similarity index 100%
rename from packages/pros-sync/src/task/local.rs
rename to packages/pros-core/src/task/local.rs
diff --git a/packages/pros-sync/src/task/mod.rs b/packages/pros-core/src/task/mod.rs
similarity index 99%
rename from packages/pros-sync/src/task/mod.rs
rename to packages/pros-core/src/task/mod.rs
index 61395519..7c40d103 100644
--- a/packages/pros-sync/src/task/mod.rs
+++ b/packages/pros-core/src/task/mod.rs
@@ -25,9 +25,10 @@ use alloc::{
 };
 use core::{ffi::CStr, hash::Hash, str::Utf8Error, time::Duration};
 
-use pros_core::{bail_on, map_errno};
 use snafu::Snafu;
 
+use crate::{bail_on, map_errno};
+
 /// Creates a task to be run 'asynchronously' (More information at the [FreeRTOS docs](https://www.freertos.org/taskandcr.html)).
 /// Takes in a closure that can move variables if needed.
 /// If your task has a loop it is advised to use [`delay`] so that the task does not take up necessary system resources.
diff --git a/packages/pros-panic/Cargo.toml b/packages/pros-panic/Cargo.toml
index 0e09c218..17a77f75 100644
--- a/packages/pros-panic/Cargo.toml
+++ b/packages/pros-panic/Cargo.toml
@@ -9,7 +9,6 @@ edition = "2021"
 pros-core = { version = "0.1.0", path = "../pros-core" }
 pros-devices = { version = "0.1.0", path = "../pros-devices", optional = true }
 pros-sys = { version = "0.6.0", path = "../pros-sys" }
-pros-sync = { version = "0.1.0", path = "../pros-sync" }
 
 [features]
 default = ["display_panics"]
diff --git a/packages/pros-panic/src/lib.rs b/packages/pros-panic/src/lib.rs
index f3608b2d..22c74750 100644
--- a/packages/pros-panic/src/lib.rs
+++ b/packages/pros-panic/src/lib.rs
@@ -12,12 +12,11 @@
 )]
 extern crate alloc;
 
-use alloc::format;
+use alloc::{format, string::String};
 
 use pros_core::eprintln;
 #[cfg(feature = "display_panics")]
 use pros_devices::Screen;
-use pros_sync::task;
 
 #[cfg(target_arch = "wasm32")]
 extern "C" {
@@ -25,10 +24,78 @@ extern "C" {
     fn sim_log_backtrace();
 }
 
+/// Draw an error box to the screen.
+///
+/// This function is internally used by the pros-rs panic handler for displaying
+/// panic messages graphically before exiting.
+#[cfg(feature = "display_panics")]
+fn draw_error(
+    screen: &mut pros_devices::screen::Screen,
+    msg: &str,
+) -> Result<(), pros_devices::screen::ScreenError> {
+    const ERROR_BOX_MARGIN: i16 = 16;
+    const ERROR_BOX_PADDING: i16 = 16;
+    const LINE_MAX_WIDTH: usize = 52;
+
+    let error_box_rect = pros_devices::screen::Rect::new(
+        ERROR_BOX_MARGIN,
+        ERROR_BOX_MARGIN,
+        pros_devices::screen::SCREEN_HORIZONTAL_RESOLUTION - ERROR_BOX_MARGIN,
+        pros_devices::screen::SCREEN_VERTICAL_RESOLUTION - ERROR_BOX_MARGIN,
+    );
+
+    screen.fill(&error_box_rect, pros_devices::color::Rgb::RED)?;
+    screen.stroke(&error_box_rect, pros_devices::color::Rgb::WHITE)?;
+
+    let mut buffer = String::new();
+    let mut line: i16 = 0;
+
+    for (i, character) in msg.char_indices() {
+        if !character.is_ascii_control() {
+            buffer.push(character);
+        }
+
+        if character == '\n' || ((buffer.len() % LINE_MAX_WIDTH == 0) && (i > 0)) {
+            screen.fill(
+                &pros_devices::screen::Text::new(
+                    buffer.as_str(),
+                    pros_devices::screen::TextPosition::Point(
+                        ERROR_BOX_MARGIN + ERROR_BOX_PADDING,
+                        ERROR_BOX_MARGIN
+                            + ERROR_BOX_PADDING
+                            + (line * pros_devices::screen::SCREEN_LINE_HEIGHT),
+                    ),
+                    pros_devices::screen::TextFormat::Small,
+                ),
+                pros_devices::color::Rgb::WHITE,
+            )?;
+
+            line += 1;
+            buffer.clear();
+        }
+    }
+
+    screen.fill(
+        &pros_devices::screen::Text::new(
+            buffer.as_str(),
+            pros_devices::screen::TextPosition::Point(
+                ERROR_BOX_MARGIN + ERROR_BOX_PADDING,
+                ERROR_BOX_MARGIN
+                    + ERROR_BOX_PADDING
+                    + (line * pros_devices::screen::SCREEN_LINE_HEIGHT),
+            ),
+            pros_devices::screen::TextFormat::Small,
+        ),
+        pros_devices::color::Rgb::WHITE,
+    )?;
+
+    Ok(())
+}
+
 #[panic_handler]
 /// The panic handler for pros-rs.
 pub fn panic(info: &core::panic::PanicInfo<'_>) -> ! {
-    let current_task = task::current();
+    let current_task = pros_core::task::current();
 
     let task_name = current_task.name().unwrap_or_else(|_| "<unknown>".into());
 
@@ -40,7 +107,7 @@ pub fn panic(info: &core::panic::PanicInfo<'_>) -> ! {
 
     unsafe {
         #[cfg(feature = "display_panics")]
-        Screen::new().draw_error(&msg).unwrap_or_else(|err| {
+        draw_error(&mut Screen::new(), &msg).unwrap_or_else(|err| {
             eprintln!("Failed to draw error message to screen: {err}");
         });
 
diff --git a/packages/pros-sync/Cargo.toml b/packages/pros-sync/Cargo.toml
index 578fdfc2..14e25b0f 100644
--- a/packages/pros-sync/Cargo.toml
+++ b/packages/pros-sync/Cargo.toml
@@ -12,4 +12,3 @@ snafu = { version = "0.8.0", default-features = false, features = [
     "rust_1_61",
     "unstable-core-error",
 ] }
-spin = "0.9.8"
diff --git a/packages/pros-sync/src/lib.rs b/packages/pros-sync/src/lib.rs
index c8c96603..ea384803 100644
--- a/packages/pros-sync/src/lib.rs
+++ b/packages/pros-sync/src/lib.rs
@@ -12,13 +12,7 @@
     clippy::missing_const_for_fn
 )]
 
-extern crate alloc;
-
-pub mod sync;
-pub mod task;
-
 use pros_core::error::Result;
-pub use sync::*;
 
 /// A trait for robot code that runs without the async executor spun up.
 /// This trait isn't recommended. See `AsyncRobot` in [pros-async](https://crates.io/crates/pros-async) for the preferred trait to run robot code.
diff --git a/packages/pros/examples/accessories.rs b/packages/pros/examples/accessories.rs
index 119934b9..729bf1e6 100644
--- a/packages/pros/examples/accessories.rs
+++ b/packages/pros/examples/accessories.rs
@@ -12,7 +12,7 @@ use pros::{
         Controller,
     },
     prelude::*,
-    sync::Mutex,
+    core::sync::Mutex,
 };
 
 struct ExampleRobot {
@@ -50,7 +50,7 @@ impl AsyncRobot for ExampleRobot {
         self.vision.set_led(LedMode::On(Rgb::new(0, 0, 255)));
 
         // Spawn a new task that will print whether or not the motor is stopped constantly.
-        spawn({
+        pros_core::task::spawn({
             let motor = Arc::clone(&self.motor); // Obtain a shared reference to our motor to safely share between tasks.
 
             move || loop {
diff --git a/packages/pros/src/lib.rs b/packages/pros/src/lib.rs
index 934e704e..b9e2ca00 100644
--- a/packages/pros/src/lib.rs
+++ b/packages/pros/src/lib.rs
@@ -72,13 +72,14 @@ pub use pros_sync as sync;
 /// This module is meant to be glob imported.
 pub mod prelude {
     #[cfg(feature = "async")]
-    pub use pros_async::{async_robot, spawn, block_on, sleep, AsyncRobot};
+    pub use pros_async::{async_robot, block_on, sleep, spawn, AsyncRobot};
     #[cfg(feature = "core")]
     pub use pros_core::{
         dbg, eprint, eprintln,
         error::{PortError, Result},
         io::{BufRead, Read, Seek, Write},
         print, println,
+        task::delay,
     };
     #[cfg(feature = "devices")]
     pub use pros_devices::{
@@ -111,8 +112,5 @@ pub mod prelude {
         },
     };
     #[cfg(feature = "sync")]
-    pub use pros_sync::{
-        os_task_local, sync_robot,
-        SyncRobot,
-    };
+    pub use pros_sync::{sync_robot, SyncRobot};
 }

From 4788caf2fe38b0fed9808af4752c6a3e3847cc57 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sat, 10 Feb 2024 00:31:46 -0800
Subject: [PATCH 64/96] =?UTF-8?q?chore:=20format=20(=E2=80=A2=E1=B7=84?=
 =?UTF-8?q?=E2=8C=93=E2=80=A2=E1=B7=85=20)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 packages/pros/examples/accessories.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/packages/pros/examples/accessories.rs b/packages/pros/examples/accessories.rs
index 729bf1e6..fb19faba 100644
--- a/packages/pros/examples/accessories.rs
+++ b/packages/pros/examples/accessories.rs
@@ -7,12 +7,12 @@ use alloc::sync::Arc;
 use core::time::Duration;
 
 use pros::{
+    core::sync::Mutex,
     devices::{
         smart::vision::{LedMode, VisionZeroPoint},
         Controller,
     },
     prelude::*,
-    core::sync::Mutex,
 };
 
 struct ExampleRobot {

From 42e589c2ca539602a804b2baa0041707062cd61e Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sat, 10 Feb 2024 13:44:54 -0800
Subject: [PATCH 65/96] fix: remove pros-math package for now

---
 packages/pros-math/Cargo.toml | 10 ------
 packages/pros-math/src/lib.rs |  4 ---
 packages/pros-math/src/pid.rs | 67 -----------------------------------
 packages/pros/Cargo.toml      |  4 +--
 4 files changed, 1 insertion(+), 84 deletions(-)
 delete mode 100644 packages/pros-math/Cargo.toml
 delete mode 100644 packages/pros-math/src/lib.rs
 delete mode 100644 packages/pros-math/src/pid.rs

diff --git a/packages/pros-math/Cargo.toml b/packages/pros-math/Cargo.toml
deleted file mode 100644
index e0d17465..00000000
--- a/packages/pros-math/Cargo.toml
+++ /dev/null
@@ -1,10 +0,0 @@
-[package]
-name = "pros-math"
-version = "0.1.0"
-edition = "2021"
-
-# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
-
-[dependencies]
-pros-sys = { version = "0.6.0", path = "../pros-sys" }
-pros-core = { version = "0.1.0", path = "../pros-core" }
diff --git a/packages/pros-math/src/lib.rs b/packages/pros-math/src/lib.rs
deleted file mode 100644
index 4e86cbb6..00000000
--- a/packages/pros-math/src/lib.rs
+++ /dev/null
@@ -1,4 +0,0 @@
-#![no_std]
-extern crate alloc;
-
-pub mod pid;
diff --git a/packages/pros-math/src/pid.rs b/packages/pros-math/src/pid.rs
deleted file mode 100644
index 4d8b37fe..00000000
--- a/packages/pros-math/src/pid.rs
+++ /dev/null
@@ -1,67 +0,0 @@
-//! PID controllers.
-//!
-//! PID controllers are first created with [`PidController::new`]
-//! and then can be utilized by calling [`PidController::update`] repeatedly.
-
-/// A proportional–integral–derivative controller.
-///
-/// This controller is used to smoothly move motors to a certain point,
-/// and allows for feedback-based power adjustments. This is desirable
-/// over just setting the motor power, as it can be tuned to make the
-/// motor stop in exactly the right position without overshooting.
-#[derive(Debug, Clone, Copy)]
-pub struct PidController {
-    /// Proportional constant. This is multiplied by the error to get the
-    /// proportional component of the output.
-    pub kp: f32,
-    /// Integral constant. This accounts for the past values of the error.
-    pub ki: f32,
-    /// Derivative constant. This allows you to change the motor behavior
-    /// based on the rate of change of the error (predicting future values).
-    pub kd: f32,
-
-    last_time: i32,
-    last_position: f32,
-    i: f32,
-}
-
-impl PidController {
-    /// Create a new PID controller with the given constants.
-    pub const fn new(kp: f32, ki: f32, kd: f32) -> Self {
-        Self {
-            kp,
-            ki,
-            kd,
-            last_time: 0,
-            last_position: 0.0,
-            i: 0.0,
-        }
-    }
-
-    /// Update the PID controller with the current setpoint and position.
-    pub fn update(&mut self, setpoint: f32, position: f32) -> f32 {
-        let time = unsafe { pros_sys::clock() };
-        let mut delta_time = (time - self.last_time) as f32 / pros_sys::CLOCKS_PER_SEC as f32;
-        if delta_time == 0.0 {
-            delta_time += 0.001;
-        }
-        let error = setpoint - position;
-
-        self.i += error * delta_time;
-
-        let p = self.kp * error;
-        let i = self.ki * self.i;
-
-        let mut d = (position - self.last_position) / delta_time;
-        if d.is_nan() {
-            d = 0.0
-        }
-
-        let output = p + i + d;
-
-        self.last_position = position;
-        self.last_time = time;
-
-        output
-    }
-}
diff --git a/packages/pros/Cargo.toml b/packages/pros/Cargo.toml
index 470150a8..4cbf07f0 100644
--- a/packages/pros/Cargo.toml
+++ b/packages/pros/Cargo.toml
@@ -21,12 +21,11 @@ rust-version = "1.75.0"
 pros-sync = { version = "0.1.0", path = "../pros-sync", optional = true }
 pros-async = { version = "0.1.0", path = "../pros-async", optional = true }
 pros-devices = { version = "0.1.0", path = "../pros-devices", optional = true }
-pros-math = { version = "0.1.0", path = "../pros-math", optional = true }
 pros-panic = { version = "0.1.0", path = "../pros-panic", optional = true }
 pros-core = { version = "0.1.0", path = "../pros-core", optional = true }
 
 [features]
-default = ["async", "sync", "devices", "math", "panic", "display_panics", "core"]
+default = ["async", "sync", "devices", "panic", "display_panics", "core"]
 
 core = ["dep:pros-core"]
 
@@ -34,7 +33,6 @@ async = ["dep:pros-async"]
 sync = ["dep:pros-sync"]
 
 devices = ["dep:pros-devices"]
-math = ["dep:pros-math"]
 
 panic = ["dep:pros-panic"]
 display_panics = ["pros-panic/display_panics"]

From 644b2dfa202c1a544f88ef81839173d43099671f Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sat, 10 Feb 2024 14:06:22 -0800
Subject: [PATCH 66/96] fix(docs): update pros-core docs

---
 packages/pros-core/src/lib.rs | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/packages/pros-core/src/lib.rs b/packages/pros-core/src/lib.rs
index 106242d5..18417d2b 100644
--- a/packages/pros-core/src/lib.rs
+++ b/packages/pros-core/src/lib.rs
@@ -7,6 +7,8 @@
 //! - Errno handling: [`error`]
 //! - Serial terminal printing: [`io`]
 //! - No-std [`Instant`](time::Instant)s: [`time`]
+//! - Synchronization primitives: [`sync`]
+//! - FreeRTOS task management: [`task`]
 
 #![no_std]
 #![feature(error_in_core)]

From 19bc0eb7c2e515452224893b6c473a81495ce01c Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sat, 10 Feb 2024 19:07:42 -0800
Subject: [PATCH 67/96] refactor: put lints in workspace instead of per crate

---
 Cargo.toml                       | 8 ++++++++
 packages/pros-async/Cargo.toml   | 5 +++--
 packages/pros-async/src/lib.rs   | 7 -------
 packages/pros-core/Cargo.toml    | 3 +++
 packages/pros-core/src/lib.rs    | 7 -------
 packages/pros-devices/Cargo.toml | 3 +++
 packages/pros-devices/src/lib.rs | 7 -------
 packages/pros-panic/Cargo.toml   | 3 +++
 packages/pros-panic/src/lib.rs   | 8 +-------
 packages/pros-sync/Cargo.toml    | 8 +++-----
 packages/pros-sync/src/lib.rs    | 7 -------
 packages/pros/Cargo.toml         | 3 +++
 12 files changed, 27 insertions(+), 42 deletions(-)

diff --git a/Cargo.toml b/Cargo.toml
index 225effa9..322f9564 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,3 +1,11 @@
 [workspace]
 members = ["packages/*"]
 resolver = "2"
+
+[workspace.lints.rust]
+rust_2018_idioms = "warn"
+missing_docs = "warn"
+unsafe_op_in_unsafe_fn = "warn"
+
+[workspace.lints.clippy]
+missing_const_for_fn = "warn"
diff --git a/packages/pros-async/Cargo.toml b/packages/pros-async/Cargo.toml
index 7e5d3e73..f0c1c941 100644
--- a/packages/pros-async/Cargo.toml
+++ b/packages/pros-async/Cargo.toml
@@ -6,9 +6,10 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-futures = { version = "0.3.28", default-features = false, features = ["alloc"] }
 async-task = { version = "4.5.0", default-features = false }
 pros-core = { version = "0.1.0", path = "../pros-core" }
 waker-fn = "1.1.1"
 pros-sys = { version = "0.6.0", path = "../pros-sys" }
-pros-sync = { version = "0.1.0", path = "../pros-sync" }
+
+[lints]
+workspace = true
diff --git a/packages/pros-async/src/lib.rs b/packages/pros-async/src/lib.rs
index 25b5cf5b..6d1beb30 100644
--- a/packages/pros-async/src/lib.rs
+++ b/packages/pros-async/src/lib.rs
@@ -6,13 +6,6 @@
 
 #![no_std]
 #![feature(negative_impls)]
-#![warn(
-    missing_docs,
-    rust_2018_idioms,
-    missing_debug_implementations,
-    unsafe_op_in_unsafe_fn,
-    clippy::missing_const_for_fn
-)]
 
 extern crate alloc;
 
diff --git a/packages/pros-core/Cargo.toml b/packages/pros-core/Cargo.toml
index 0e974784..8b728b22 100644
--- a/packages/pros-core/Cargo.toml
+++ b/packages/pros-core/Cargo.toml
@@ -16,3 +16,6 @@ spin = "0.9.8"
 
 [target.'cfg(target_arch = "wasm32")'.dependencies]
 dlmalloc = { version = "0.2.4", features = ["global"] }
+
+[lints]
+workspace = true
diff --git a/packages/pros-core/src/lib.rs b/packages/pros-core/src/lib.rs
index 18417d2b..fded44ec 100644
--- a/packages/pros-core/src/lib.rs
+++ b/packages/pros-core/src/lib.rs
@@ -12,13 +12,6 @@
 
 #![no_std]
 #![feature(error_in_core)]
-#![warn(
-    missing_docs,
-    rust_2018_idioms,
-    missing_debug_implementations,
-    unsafe_op_in_unsafe_fn,
-    clippy::missing_const_for_fn
-)]
 
 extern crate alloc;
 
diff --git a/packages/pros-devices/Cargo.toml b/packages/pros-devices/Cargo.toml
index c919df49..6c58f2f2 100644
--- a/packages/pros-devices/Cargo.toml
+++ b/packages/pros-devices/Cargo.toml
@@ -13,3 +13,6 @@ snafu = { version = "0.8.0", default-features = false, features = [
     "unstable-core-error",
 ] }
 no_std_io = { version = "0.6.0", features = ["alloc"] }
+
+[lints]
+workspace = true
diff --git a/packages/pros-devices/src/lib.rs b/packages/pros-devices/src/lib.rs
index 63aba64a..0a56b96a 100644
--- a/packages/pros-devices/src/lib.rs
+++ b/packages/pros-devices/src/lib.rs
@@ -18,13 +18,6 @@
 //! - [`controller`] provides types for interacting with the V5 controller.
 
 #![no_std]
-#![warn(
-    missing_docs,
-    rust_2018_idioms,
-    missing_debug_implementations,
-    unsafe_op_in_unsafe_fn,
-    clippy::missing_const_for_fn
-)]
 
 extern crate alloc;
 
diff --git a/packages/pros-panic/Cargo.toml b/packages/pros-panic/Cargo.toml
index 17a77f75..54234af7 100644
--- a/packages/pros-panic/Cargo.toml
+++ b/packages/pros-panic/Cargo.toml
@@ -14,3 +14,6 @@ pros-sys = { version = "0.6.0", path = "../pros-sys" }
 default = ["display_panics"]
 
 display_panics = ["dep:pros-devices"]
+
+[lints]
+workspace = true
diff --git a/packages/pros-panic/src/lib.rs b/packages/pros-panic/src/lib.rs
index 22c74750..aefae6e3 100644
--- a/packages/pros-panic/src/lib.rs
+++ b/packages/pros-panic/src/lib.rs
@@ -3,13 +3,7 @@
 //! If the `display_panics` feature is enabled, it will also display the panic message on the V5 Brain display.
 
 #![no_std]
-#![warn(
-    missing_docs,
-    rust_2018_idioms,
-    missing_debug_implementations,
-    unsafe_op_in_unsafe_fn,
-    clippy::missing_const_for_fn
-)]
+
 extern crate alloc;
 
 use alloc::{format, string::String};
diff --git a/packages/pros-sync/Cargo.toml b/packages/pros-sync/Cargo.toml
index 14e25b0f..1df90f53 100644
--- a/packages/pros-sync/Cargo.toml
+++ b/packages/pros-sync/Cargo.toml
@@ -7,8 +7,6 @@ edition = "2021"
 
 [dependencies]
 pros-core = { version = "0.1.0", path = "../pros-core" }
-pros-sys = { version = "0.6.0", path = "../pros-sys" }
-snafu = { version = "0.8.0", default-features = false, features = [
-    "rust_1_61",
-    "unstable-core-error",
-] }
+
+[lints]
+workspace = true
diff --git a/packages/pros-sync/src/lib.rs b/packages/pros-sync/src/lib.rs
index ea384803..10834c21 100644
--- a/packages/pros-sync/src/lib.rs
+++ b/packages/pros-sync/src/lib.rs
@@ -4,13 +4,6 @@
 //! For more information on the task api, see the [`task`] module.
 
 #![no_std]
-#![warn(
-    missing_docs,
-    rust_2018_idioms,
-    missing_debug_implementations,
-    unsafe_op_in_unsafe_fn,
-    clippy::missing_const_for_fn
-)]
 
 use pros_core::error::Result;
 
diff --git a/packages/pros/Cargo.toml b/packages/pros/Cargo.toml
index 4cbf07f0..caaff233 100644
--- a/packages/pros/Cargo.toml
+++ b/packages/pros/Cargo.toml
@@ -36,3 +36,6 @@ devices = ["dep:pros-devices"]
 
 panic = ["dep:pros-panic"]
 display_panics = ["pros-panic/display_panics"]
+
+[lints]
+workspace = true

From 0ac520f4611a34cb05b69492bbc67c1d78fe9b82 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sat, 10 Feb 2024 19:21:38 -0800
Subject: [PATCH 68/96] refactor: move competition module into pros_devices

---
 packages/pros-core/src/lib.rs                           | 1 -
 packages/{pros-core => pros-devices}/src/competition.rs | 0
 packages/pros-devices/src/lib.rs                        | 1 +
 3 files changed, 1 insertion(+), 1 deletion(-)
 rename packages/{pros-core => pros-devices}/src/competition.rs (100%)

diff --git a/packages/pros-core/src/lib.rs b/packages/pros-core/src/lib.rs
index fded44ec..37322e9b 100644
--- a/packages/pros-core/src/lib.rs
+++ b/packages/pros-core/src/lib.rs
@@ -15,7 +15,6 @@
 
 extern crate alloc;
 
-pub mod competition;
 pub mod error;
 pub mod io;
 pub mod pros_alloc;
diff --git a/packages/pros-core/src/competition.rs b/packages/pros-devices/src/competition.rs
similarity index 100%
rename from packages/pros-core/src/competition.rs
rename to packages/pros-devices/src/competition.rs
diff --git a/packages/pros-devices/src/lib.rs b/packages/pros-devices/src/lib.rs
index 0a56b96a..06169c96 100644
--- a/packages/pros-devices/src/lib.rs
+++ b/packages/pros-devices/src/lib.rs
@@ -25,6 +25,7 @@ pub mod adi;
 pub mod smart;
 
 pub mod battery;
+pub mod competition;
 pub mod controller;
 pub mod peripherals;
 pub mod position;

From 5d6dabaf91dadea7c3a5f9b7b375ee2f8a1e96ed Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sat, 10 Feb 2024 19:26:44 -0800
Subject: [PATCH 69/96] docs(pros-sync): update outdated module docs

---
 packages/pros-sync/src/lib.rs | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/packages/pros-sync/src/lib.rs b/packages/pros-sync/src/lib.rs
index 10834c21..6f7df18a 100644
--- a/packages/pros-sync/src/lib.rs
+++ b/packages/pros-sync/src/lib.rs
@@ -1,7 +1,4 @@
-//! Synchronization primitives and FreeRTOS task management for [`pros-rs`].
-//!
-//! The synchronization types are modeled after the standard library.
-//! For more information on the task api, see the [`task`] module.
+//! Synchronous robot code trait for [pros-rs](https://crates.io/crates/pros).
 
 #![no_std]
 

From 2c29b6535bf8b2a2385fccad66eae4cd2f256339 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sun, 11 Feb 2024 05:29:12 -0800
Subject: [PATCH 70/96] chore: format

---
 packages/pros-devices/src/adi/mod.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/packages/pros-devices/src/adi/mod.rs b/packages/pros-devices/src/adi/mod.rs
index 5834ca26..d3853f64 100644
--- a/packages/pros-devices/src/adi/mod.rs
+++ b/packages/pros-devices/src/adi/mod.rs
@@ -1,7 +1,7 @@
 //! ADI (Triport) devices on the Vex V5.
 
 use pros_core::{bail_on, error::PortError, map_errno};
-use pros_sys::{adi_port_config_e_t, PROS_ERR, E_ADI_ERR,};
+use pros_sys::{adi_port_config_e_t, E_ADI_ERR, PROS_ERR};
 use snafu::Snafu;
 
 //TODO: much more in depth module documentation for device modules as well as this module.

From e65faf95f7f46060bc6cecdedf2deb6534978f91 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sun, 11 Feb 2024 23:39:32 -0800
Subject: [PATCH 71/96] docs: fix ADI examples

---
 packages/pros-devices/src/adi/linetracker.rs | 2 +-
 packages/pros-devices/src/adi/solenoid.rs    | 2 +-
 packages/pros-devices/src/adi/switch.rs      | 2 +-
 packages/pros/Cargo.toml                     | 3 ---
 packages/pros/examples/adi.rs                | 4 ++--
 packages/pros/examples/adi_expander.rs       | 8 ++++----
 packages/pros/src/lib.rs                     | 5 +++--
 7 files changed, 12 insertions(+), 14 deletions(-)

diff --git a/packages/pros-devices/src/adi/linetracker.rs b/packages/pros-devices/src/adi/linetracker.rs
index 4a80cdf3..02068600 100644
--- a/packages/pros-devices/src/adi/linetracker.rs
+++ b/packages/pros-devices/src/adi/linetracker.rs
@@ -23,10 +23,10 @@
 //! between 1/8 and 1/4 of an inch away from the surface it is measuring. It is also important
 //! to keep lighting in the room consistent, so sensors' readings remain accurate.
 
+use pros_core::bail_on;
 use pros_sys::PROS_ERR;
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use pros_core::bail_on;
 
 /// Analog line tracker device.
 #[derive(Debug, Eq, PartialEq)]
diff --git a/packages/pros-devices/src/adi/solenoid.rs b/packages/pros-devices/src/adi/solenoid.rs
index 0856959d..e7fffea5 100644
--- a/packages/pros-devices/src/adi/solenoid.rs
+++ b/packages/pros-devices/src/adi/solenoid.rs
@@ -1,9 +1,9 @@
 //! ADI Solenoid Pneumatic Control
 
+use pros_core::bail_on;
 use pros_sys::PROS_ERR;
 
 use super::{digital::LogicLevel, AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use pros_core::bail_on;
 
 /// Digital pneumatic solenoid valve.
 #[derive(Debug, Eq, PartialEq)]
diff --git a/packages/pros-devices/src/adi/switch.rs b/packages/pros-devices/src/adi/switch.rs
index d8e198fa..7cf972eb 100644
--- a/packages/pros-devices/src/adi/switch.rs
+++ b/packages/pros-devices/src/adi/switch.rs
@@ -1,9 +1,9 @@
 //! ADI Digital Switch
 
+use pros_core::bail_on;
 use pros_sys::PROS_ERR;
 
 use super::{digital::LogicLevel, AdiDevice, AdiDeviceType, AdiDigitalIn, AdiError, AdiPort};
-use pros_core::bail_on;
 
 /// Generic digital input ADI device.
 #[derive(Debug, Eq, PartialEq)]
diff --git a/packages/pros/Cargo.toml b/packages/pros/Cargo.toml
index caaff233..4cbf07f0 100644
--- a/packages/pros/Cargo.toml
+++ b/packages/pros/Cargo.toml
@@ -36,6 +36,3 @@ devices = ["dep:pros-devices"]
 
 panic = ["dep:pros-panic"]
 display_panics = ["pros-panic/display_panics"]
-
-[lints]
-workspace = true
diff --git a/packages/pros/examples/adi.rs b/packages/pros/examples/adi.rs
index 1425a42e..10e83c16 100644
--- a/packages/pros/examples/adi.rs
+++ b/packages/pros/examples/adi.rs
@@ -26,8 +26,8 @@ impl AsyncRobot for ExampleRobot {
         self.encoder.zero()?;
 
         loop {
-            println!("Encoder value: {:?}", self.encoder.value());
-            println!("Ultrasonic value: {:?}", self.ultrasonic.value());
+            println!("Encoder position: {:?}", self.encoder.position());
+            println!("Ultrasonic distance: {:?}", self.ultrasonic.distance());
 
             delay(Duration::from_millis(10));
         }
diff --git a/packages/pros/examples/adi_expander.rs b/packages/pros/examples/adi_expander.rs
index 2672451b..efd6eee1 100644
--- a/packages/pros/examples/adi_expander.rs
+++ b/packages/pros/examples/adi_expander.rs
@@ -15,18 +15,18 @@ impl Robot {
 
         Self {
             // Create an encoder on the expander's A and B ports.
-            encoder: AdiEncoder::new((expander.adi_a, expander.adi_b), false),
+            encoder: AdiEncoder::new((expander.adi_a, expander.adi_b), false).unwrap(),
         }
     }
 }
 
 impl AsyncRobot for Robot {
-    async fn opcontrol(&mut self) -> pros::Result {
+    async fn opcontrol(&mut self) -> Result {
         // Read from the encoder every second.
         loop {
-            println!("Encoder value: {}", self.encoder.value()?);
+            println!("Encoder position: {}", self.encoder.position()?);
 
-            pros::task::delay(Duration::from_secs(1));
+            delay(Duration::from_secs(1));
         }
     }
 }
diff --git a/packages/pros/src/lib.rs b/packages/pros/src/lib.rs
index b9e2ca00..5dc3a091 100644
--- a/packages/pros/src/lib.rs
+++ b/packages/pros/src/lib.rs
@@ -96,8 +96,9 @@ pub mod prelude {
             AdiDevice, AdiPort,
         },
         color::Rgb,
-            position::Position,
-            screen::{Circle, Line, Rect, Screen, Text, TextFormat, TextPosition, TouchState},
+        peripherals::{DynamicPeripherals, Peripherals},
+        position::Position,
+        screen::{Circle, Line, Rect, Screen, Text, TextFormat, TextPosition, TouchState},
         smart::{
             distance::DistanceSensor,
             expander::AdiExpander,

From 14ea5953872f776313928c99148d466f6b962240 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Mon, 12 Feb 2024 18:06:59 -0800
Subject: [PATCH 72/96] docs: improve changelog entry

---
 CHANGELOG.md | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index d32f513c..02a728ed 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -59,6 +59,12 @@ Before releasing:
 - Moved most device-related constants into their associated struct `impl` (**Breaking Change**) (#98).
 - Renamed IMU_RESET_TIMEOUT to `InertialSensor::CALIBRATION_TIMEOUT` (**Breaking Change**) (#98).
 - Split the `pros` crate into several smaller subcrates. (#86) (**Breaking Change**)
+- Changed the `pros` crate into a metapackage without any code of it's own. (**Breaking Change**) (#86)
+- Split the `pros` crate into several smaller subcrates. (**Breaking Change**) (#86)
+  - Added the `pros-async` crate with the async executor and robot trait.
+  - Added the `pros-sync` crate for the sync robot trait.
+  - Added the `pros-core` crate with basic abstractions over `pros-sys` needed to compile a program to the brain.
+  - Added the `pros-panic` crate for the panic handler implementation.
 
 ### Removed
 

From aee2f96d043037e394b0f98e95e787cef4b92275 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Wed, 14 Feb 2024 13:19:06 -0800
Subject: [PATCH 73/96] fix: update ADI pwm module imports

---
 packages/pros-devices/src/adi/pwm.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/packages/pros-devices/src/adi/pwm.rs b/packages/pros-devices/src/adi/pwm.rs
index d1556533..06933e4b 100644
--- a/packages/pros-devices/src/adi/pwm.rs
+++ b/packages/pros-devices/src/adi/pwm.rs
@@ -3,7 +3,7 @@
 use pros_sys::PROS_ERR;
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use crate::error::bail_on;
+use pros_core::bail_on;
 
 /// Generic PWM output ADI device.
 #[derive(Debug, Eq, PartialEq)]

From 7e0f67655bf839990b6852675d831325dd65d0ff Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Wed, 14 Feb 2024 13:20:14 -0800
Subject: [PATCH 74/96] chore: format

---
 packages/pros-devices/src/adi/pwm.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/packages/pros-devices/src/adi/pwm.rs b/packages/pros-devices/src/adi/pwm.rs
index 06933e4b..411869d1 100644
--- a/packages/pros-devices/src/adi/pwm.rs
+++ b/packages/pros-devices/src/adi/pwm.rs
@@ -1,9 +1,9 @@
 //! ADI Pulse-width modulation (PWM).
 
+use pros_core::bail_on;
 use pros_sys::PROS_ERR;
 
 use super::{AdiDevice, AdiDeviceType, AdiError, AdiPort};
-use pros_core::bail_on;
 
 /// Generic PWM output ADI device.
 #[derive(Debug, Eq, PartialEq)]

From 2abfea08d9b1f40274fdec29a1375e2286913186 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sun, 18 Feb 2024 20:50:24 -0800
Subject: [PATCH 75/96] docs: improve links in docs

---
 packages/pros-devices/src/adi/mod.rs   | 2 +-
 packages/pros-devices/src/lib.rs       | 4 +---
 packages/pros-devices/src/screen.rs    | 2 +-
 packages/pros-devices/src/smart/mod.rs | 4 ++--
 4 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/packages/pros-devices/src/adi/mod.rs b/packages/pros-devices/src/adi/mod.rs
index d3853f64..9012d496 100644
--- a/packages/pros-devices/src/adi/mod.rs
+++ b/packages/pros-devices/src/adi/mod.rs
@@ -49,7 +49,7 @@ impl AdiPort {
     ///
     /// Creating new `AdiPort`s is inherently unsafe due to the possibility of constructing
     /// more than one device on the same port index allowing multiple mutable references to
-    /// the same hardware device. Prefer using [`crate::peripherals::Peripherals`] to register devices if possible.
+    /// the same hardware device. Prefer using [`Peripherals`](crate::peripherals::Peripherals) to register devices if possible.
     pub const unsafe fn new(index: u8, expander_index: Option<u8>) -> Self {
         Self {
             index,
diff --git a/packages/pros-devices/src/lib.rs b/packages/pros-devices/src/lib.rs
index 06169c96..f4c7dfe0 100644
--- a/packages/pros-devices/src/lib.rs
+++ b/packages/pros-devices/src/lib.rs
@@ -25,6 +25,7 @@ pub mod adi;
 pub mod smart;
 
 pub mod battery;
+pub mod color;
 pub mod competition;
 pub mod controller;
 pub mod peripherals;
@@ -32,9 +33,6 @@ pub mod position;
 pub mod screen;
 pub mod usd;
 
-//TODO: find a better place to put this
-pub mod color;
-
 pub use controller::Controller;
 pub use position::Position;
 pub use screen::Screen;
diff --git a/packages/pros-devices/src/screen.rs b/packages/pros-devices/src/screen.rs
index b89ae6c5..f90a7548 100644
--- a/packages/pros-devices/src/screen.rs
+++ b/packages/pros-devices/src/screen.rs
@@ -350,7 +350,7 @@ impl Screen {
     ///
     /// Creating new `Screen`s is inherently unsafe due to the possibility of constructing
     /// more than one screen at once allowing multiple mutable references to the same
-    /// hardware device. Prefer using [`crate::peripherals::Peripherals`] to register devices if possible.
+    /// hardware device. Prefer using [`Peripherals`](crate::peripherals::Peripherals) to register devices if possible.
     pub unsafe fn new() -> Self {
         Self {
             current_line: 0,
diff --git a/packages/pros-devices/src/smart/mod.rs b/packages/pros-devices/src/smart/mod.rs
index 158a2ae6..e45ae7cf 100644
--- a/packages/pros-devices/src/smart/mod.rs
+++ b/packages/pros-devices/src/smart/mod.rs
@@ -13,7 +13,7 @@
 //!
 //! Most devices can be created with a `new` function that generally takes a port number along with other
 //! device-specific parameters. All sensors are thread safe, however sensors can only be safely constructed
-//! using the [`crate::peripherals`] API.
+//! using the [`peripherals`](crate::peripherals) API.
 //!
 //! In cases where PROS gives the option of a blocking or non-blocking API,
 //! the blocking API is used for a synchronous method and the non-blocking API is used to create a future.
@@ -108,7 +108,7 @@ impl SmartPort {
     /// Creating new `SmartPort`s is inherently unsafe due to the possibility of constructing
     /// more than one device on the same port index allowing multiple mutable references to
     /// the same hardware device. This violates rust's borrow checked guarantees. Prefer using
-    /// [`crate::peripherals::Peripherals`] to register devices if possible.
+    /// [`Peripherals`](crate::peripherals::Peripherals) to register devices if possible.
     ///
     /// # Examples
     ///

From 9aacd2c0a7e78988cd26d21d9d7d7fd98cefb85a Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Thu, 22 Feb 2024 23:18:03 -0800
Subject: [PATCH 76/96] feat: pros now depends on and exports pros-sys

---
 packages/pros/Cargo.toml | 1 +
 packages/pros/src/lib.rs | 3 +--
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/packages/pros/Cargo.toml b/packages/pros/Cargo.toml
index 4cbf07f0..1e9a0a82 100644
--- a/packages/pros/Cargo.toml
+++ b/packages/pros/Cargo.toml
@@ -23,6 +23,7 @@ pros-async = { version = "0.1.0", path = "../pros-async", optional = true }
 pros-devices = { version = "0.1.0", path = "../pros-devices", optional = true }
 pros-panic = { version = "0.1.0", path = "../pros-panic", optional = true }
 pros-core = { version = "0.1.0", path = "../pros-core", optional = true }
+pros-sys = { version = "0.7.0", path = "../pros-sys" }
 
 [features]
 default = ["async", "sync", "devices", "panic", "display_panics", "core"]
diff --git a/packages/pros/src/lib.rs b/packages/pros/src/lib.rs
index 5dc3a091..305564d2 100644
--- a/packages/pros/src/lib.rs
+++ b/packages/pros/src/lib.rs
@@ -61,12 +61,11 @@ pub use pros_async as async_runtime;
 pub use pros_core as core;
 #[cfg(feature = "devices")]
 pub use pros_devices as devices;
-#[cfg(feature = "math")]
-pub use pros_math as math;
 #[cfg(feature = "panic")]
 pub use pros_panic as panic;
 #[cfg(feature = "sync")]
 pub use pros_sync as sync;
+pub use pros_sys as sys;
 
 /// Commonly used features of pros-rs.
 /// This module is meant to be glob imported.

From 579a44b1b9d4a6f9f564048c9141823c75fc1caa Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Thu, 22 Feb 2024 23:21:32 -0800
Subject: [PATCH 77/96] fix: use a real version of pros-sys

---
 packages/pros/Cargo.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/packages/pros/Cargo.toml b/packages/pros/Cargo.toml
index 1e9a0a82..9b195253 100644
--- a/packages/pros/Cargo.toml
+++ b/packages/pros/Cargo.toml
@@ -23,7 +23,7 @@ pros-async = { version = "0.1.0", path = "../pros-async", optional = true }
 pros-devices = { version = "0.1.0", path = "../pros-devices", optional = true }
 pros-panic = { version = "0.1.0", path = "../pros-panic", optional = true }
 pros-core = { version = "0.1.0", path = "../pros-core", optional = true }
-pros-sys = { version = "0.7.0", path = "../pros-sys" }
+pros-sys = { version = "0.6.0", path = "../pros-sys" }
 
 [features]
 default = ["async", "sync", "devices", "panic", "display_panics", "core"]

From f6d1ae588f4222769cc285489699ec587d818a60 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Fri, 23 Feb 2024 14:09:31 -0800
Subject: [PATCH 78/96] docs: fix grammar issues and repetition

---
 CHANGELOG.md | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 02a728ed..4f656acf 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -59,12 +59,12 @@ Before releasing:
 - Moved most device-related constants into their associated struct `impl` (**Breaking Change**) (#98).
 - Renamed IMU_RESET_TIMEOUT to `InertialSensor::CALIBRATION_TIMEOUT` (**Breaking Change**) (#98).
 - Split the `pros` crate into several smaller subcrates. (#86) (**Breaking Change**)
-- Changed the `pros` crate into a metapackage without any code of it's own. (**Breaking Change**) (#86)
+- Changed the `pros` crate into a metapackage without any code of its own. (**Breaking Change**) (#86)
 - Split the `pros` crate into several smaller subcrates. (**Breaking Change**) (#86)
-  - Added the `pros-async` crate with the async executor and robot trait.
-  - Added the `pros-sync` crate for the sync robot trait.
-  - Added the `pros-core` crate with basic abstractions over `pros-sys` needed to compile a program to the brain.
-  - Added the `pros-panic` crate for the panic handler implementation.
+  - `pros-async` with the async executor and robot trait.
+  - `pros-sync` for the sync robot trait.
+  - `pros-core` with basic abstractions over `pros-sys` needed to compile a program to the brain.
+  - `pros-panic` for the panic handler implementation.
 
 ### Removed
 

From 0951065aa7b22b5aada7b637fc23637d1cf12c34 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sat, 24 Feb 2024 02:05:46 -0800
Subject: [PATCH 79/96] docs: remove duplicate changelog entry

---
 CHANGELOG.md | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4f656acf..a046dece 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -58,10 +58,10 @@ Before releasing:
 - 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).
-- Split the `pros` crate into several smaller subcrates. (#86) (**Breaking Change**)
-- Changed the `pros` crate into a metapackage without any code of its own. (**Breaking Change**) (#86)
-- Split the `pros` crate into several smaller subcrates. (**Breaking Change**) (#86)
+- 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-panic` for the panic handler implementation.

From d545b2edf5db091d23b44a4cd79804f7a76a1092 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sat, 24 Feb 2024 02:48:04 -0800
Subject: [PATCH 80/96] feat: create pros-math crate and bring back pid and
 feedforward controllers

---
 packages/pros-math/Cargo.toml         | 11 +++++
 packages/pros-math/src/feedforward.rs | 65 +++++++++++++++++++++++++
 packages/pros-math/src/lib.rs         |  7 +++
 packages/pros-math/src/pid.rs         | 68 +++++++++++++++++++++++++++
 packages/pros/Cargo.toml              |  5 +-
 packages/pros/src/lib.rs              |  5 ++
 6 files changed, 160 insertions(+), 1 deletion(-)
 create mode 100644 packages/pros-math/Cargo.toml
 create mode 100644 packages/pros-math/src/feedforward.rs
 create mode 100644 packages/pros-math/src/lib.rs
 create mode 100644 packages/pros-math/src/pid.rs

diff --git a/packages/pros-math/Cargo.toml b/packages/pros-math/Cargo.toml
new file mode 100644
index 00000000..279a41d8
--- /dev/null
+++ b/packages/pros-math/Cargo.toml
@@ -0,0 +1,11 @@
+[package]
+name = "pros-math"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+num = { version = "0.4.1", default-features = false }
+pros-core = { version = "0.1.0", path = "../pros-core" }
+
+[lints]
+workspace = true
diff --git a/packages/pros-math/src/feedforward.rs b/packages/pros-math/src/feedforward.rs
new file mode 100644
index 00000000..c8e8b3c9
--- /dev/null
+++ b/packages/pros-math/src/feedforward.rs
@@ -0,0 +1,65 @@
+//! Simple feedforward controller for motors.
+//! Computes the voltage to maintain an idealized DC motor in a certain state.
+//! Uses this feedforward model: V = Kₛ sign(ω) + Kᵥ ω + Kₐ α
+
+/// Feedforward controller for motor control.
+///
+/// This controller is used to apply feedforward control to achieve desired motor behavior
+/// based on velocity and acceleration.
+#[derive(Debug, Clone)]
+pub struct MotorFeedforwardController {
+    /// Feedforward constant for static friction compensation.
+    pub ks: f32,
+    /// Feedforward constant for velocity compensation.
+    pub kv: f32,
+    /// Feedforward constant for acceleration compensation.
+    pub ka: f32,
+    /// Feedforward constant for the target acceleration.
+    pub target_acceleration: f32,
+    /// Target.
+    pub target: f32,
+}
+
+impl MotorFeedforwardController {
+    /// Creates a new [`FeedforwardMotorController`] with the given constants and target.
+    ///
+    /// # Arguments
+    ///
+    /// * `ks` - Feedforward constant for static friction compensation.
+    /// * `kv` - Feedforward constant for velocity compensation.
+    /// * `ka` - Feedforward constant for acceleration compensation.
+    /// * `target_acceleration` - Feedforward constant for the target acceleration.
+    ///
+    /// # Returns
+    ///
+    /// A new [`FeedforwardMotorController`].
+    pub fn new(ks: f32, kv: f32, ka: f32, target_acceleration: f32) -> Self {
+        Self {
+            ks,
+            kv,
+            ka,
+            target_acceleration,
+            target: 0.0,
+        }
+    }
+
+    /// Calculates the control output.
+    ///
+    /// # Arguments
+    ///
+    /// * `target_acceleration` - The target_acceleration of the system.
+    /// * `target` - Target.
+    ///
+    /// # Returns
+    ///
+    /// The control output to apply to the motor.
+    pub fn calculate(&self, target: f32, target_acceleration: f32) -> f32 {
+        // Calculate the feedforward component based on velocity and acceleration
+        let v = self.ks * num::signum(target) + self.kv * target + self.ka * target_acceleration;
+
+        // The output is the feedforward controller (V)
+        let output = v;
+
+        output
+    }
+}
diff --git a/packages/pros-math/src/lib.rs b/packages/pros-math/src/lib.rs
new file mode 100644
index 00000000..c64c24dd
--- /dev/null
+++ b/packages/pros-math/src/lib.rs
@@ -0,0 +1,7 @@
+//! Common mathematical formulas and models implemented for [`pros-rs`](https://crates.io/crates/pros).
+//!
+
+#![no_std]
+
+pub mod pid;
+pub mod feedforward;
diff --git a/packages/pros-math/src/pid.rs b/packages/pros-math/src/pid.rs
new file mode 100644
index 00000000..74a8e40f
--- /dev/null
+++ b/packages/pros-math/src/pid.rs
@@ -0,0 +1,68 @@
+//! PID controllers.
+//!
+//! PID controllers are first created with [`PidController::new`]
+//! and then can be utilized by calling [`PidController::update`] repeatedly.
+
+use core::time::Duration;
+
+/// A proportional–integral–derivative controller.
+///
+/// This controller is used to smoothly move motors to a certain point,
+/// and allows for feedback-based power adjustments. This is desirable
+/// over just setting the motor power, as it can be tuned to make the
+/// motor stop in exactly the right position without overshooting.
+#[derive(Debug, Clone, Copy)]
+pub struct PidController {
+    /// Proportional constant. This is multiplied by the error to get the
+    /// proportional component of the output.
+    pub kp: f32,
+    /// Integral constant. This accounts for the past values of the error.
+    pub ki: f32,
+    /// Derivative constant. This allows you to change the motor behavior
+    /// based on the rate of change of the error (predicting future values).
+    pub kd: f32,
+
+    last_time: pros_core::time::Instant,
+    last_position: f32,
+    i: f32,
+}
+
+impl PidController {
+    /// Create a new PID controller with the given constants.
+    pub fn new(kp: f32, ki: f32, kd: f32) -> Self {
+        Self {
+            kp,
+            ki,
+            kd,
+            last_time: pros_core::time::Instant::now(),
+            last_position: 0.0,
+            i: 0.0,
+        }
+    }
+
+    /// Update the PID controller with the current setpoint and position.
+    pub fn update(&mut self, setpoint: f32, position: f32) -> f32 {
+        let mut delta_time = self.last_time.elapsed();
+        if delta_time.is_zero() {
+            delta_time += Duration::from_micros(1);
+        }
+        let error = setpoint - position;
+
+        self.i += error * delta_time.as_secs_f32();
+
+        let p = self.kp * error;
+        let i = self.ki * self.i;
+
+        let mut d = (position - self.last_position) / delta_time.as_secs_f32();
+        if d.is_nan() {
+            d = 0.0
+        }
+
+        let output = p + i + d;
+
+        self.last_position = position;
+        self.last_time = pros_core::time::Instant::now();
+
+        output
+    }
+}
diff --git a/packages/pros/Cargo.toml b/packages/pros/Cargo.toml
index 9b195253..20252fa6 100644
--- a/packages/pros/Cargo.toml
+++ b/packages/pros/Cargo.toml
@@ -23,10 +23,11 @@ pros-async = { version = "0.1.0", path = "../pros-async", optional = true }
 pros-devices = { version = "0.1.0", path = "../pros-devices", optional = true }
 pros-panic = { version = "0.1.0", path = "../pros-panic", optional = true }
 pros-core = { version = "0.1.0", path = "../pros-core", optional = true }
+pros-math = { version = "0.1.0", path = "../pros-math", optional = true }
 pros-sys = { version = "0.6.0", path = "../pros-sys" }
 
 [features]
-default = ["async", "sync", "devices", "panic", "display_panics", "core"]
+default = ["async", "sync", "devices", "panic", "display_panics", "core", "math"]
 
 core = ["dep:pros-core"]
 
@@ -35,5 +36,7 @@ sync = ["dep:pros-sync"]
 
 devices = ["dep:pros-devices"]
 
+math = ["dep:pros-math"]
+
 panic = ["dep:pros-panic"]
 display_panics = ["pros-panic/display_panics"]
diff --git a/packages/pros/src/lib.rs b/packages/pros/src/lib.rs
index 305564d2..60237ca0 100644
--- a/packages/pros/src/lib.rs
+++ b/packages/pros/src/lib.rs
@@ -65,6 +65,9 @@ pub use pros_devices as devices;
 pub use pros_panic as panic;
 #[cfg(feature = "sync")]
 pub use pros_sync as sync;
+#[cfg(feature = "math")]
+pub use pros_math as math;
+
 pub use pros_sys as sys;
 
 /// Commonly used features of pros-rs.
@@ -113,4 +116,6 @@ pub mod prelude {
     };
     #[cfg(feature = "sync")]
     pub use pros_sync::{sync_robot, SyncRobot};
+    #[cfg(feature = "math")]
+    pub use pros_math::{feedforward::MotorFeedforwardController, pid::PidController};
 }

From 8041103e901e201e6e4a11bec100f8fffa59c299 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sat, 24 Feb 2024 02:48:52 -0800
Subject: [PATCH 81/96] docs: update added crates in changelog

---
 CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index a046dece..448f0843 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -64,6 +64,7 @@ Before releasing:
   - `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

From 2fedca0dcad307a617e735a6db81d8fd0453cf2e Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sat, 24 Feb 2024 02:50:36 -0800
Subject: [PATCH 82/96] chore: formatting

---
 packages/pros-math/src/lib.rs | 3 +--
 packages/pros/src/lib.rs      | 9 ++++-----
 2 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/packages/pros-math/src/lib.rs b/packages/pros-math/src/lib.rs
index c64c24dd..49c5474c 100644
--- a/packages/pros-math/src/lib.rs
+++ b/packages/pros-math/src/lib.rs
@@ -1,7 +1,6 @@
 //! Common mathematical formulas and models implemented for [`pros-rs`](https://crates.io/crates/pros).
-//!
 
 #![no_std]
 
-pub mod pid;
 pub mod feedforward;
+pub mod pid;
diff --git a/packages/pros/src/lib.rs b/packages/pros/src/lib.rs
index 60237ca0..7e24f127 100644
--- a/packages/pros/src/lib.rs
+++ b/packages/pros/src/lib.rs
@@ -61,13 +61,12 @@ pub use pros_async as async_runtime;
 pub use pros_core as core;
 #[cfg(feature = "devices")]
 pub use pros_devices as devices;
+#[cfg(feature = "math")]
+pub use pros_math as math;
 #[cfg(feature = "panic")]
 pub use pros_panic as panic;
 #[cfg(feature = "sync")]
 pub use pros_sync as sync;
-#[cfg(feature = "math")]
-pub use pros_math as math;
-
 pub use pros_sys as sys;
 
 /// Commonly used features of pros-rs.
@@ -114,8 +113,8 @@ pub mod prelude {
             SmartDevice, SmartPort,
         },
     };
-    #[cfg(feature = "sync")]
-    pub use pros_sync::{sync_robot, SyncRobot};
     #[cfg(feature = "math")]
     pub use pros_math::{feedforward::MotorFeedforwardController, pid::PidController};
+    #[cfg(feature = "sync")]
+    pub use pros_sync::{sync_robot, SyncRobot};
 }

From 99c803b2dc554064b159655175db20cabcd9215f Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Mon, 26 Feb 2024 18:45:25 -0800
Subject: [PATCH 83/96] refactor: rename pros_alloc module to allocator

---
 packages/pros-core/src/{pros_alloc => allocator}/mod.rs   | 0
 packages/pros-core/src/{pros_alloc => allocator}/vexos.rs | 0
 packages/pros-core/src/{pros_alloc => allocator}/wasm.rs  | 0
 packages/pros-core/src/lib.rs                             | 2 +-
 4 files changed, 1 insertion(+), 1 deletion(-)
 rename packages/pros-core/src/{pros_alloc => allocator}/mod.rs (100%)
 rename packages/pros-core/src/{pros_alloc => allocator}/vexos.rs (100%)
 rename packages/pros-core/src/{pros_alloc => allocator}/wasm.rs (100%)

diff --git a/packages/pros-core/src/pros_alloc/mod.rs b/packages/pros-core/src/allocator/mod.rs
similarity index 100%
rename from packages/pros-core/src/pros_alloc/mod.rs
rename to packages/pros-core/src/allocator/mod.rs
diff --git a/packages/pros-core/src/pros_alloc/vexos.rs b/packages/pros-core/src/allocator/vexos.rs
similarity index 100%
rename from packages/pros-core/src/pros_alloc/vexos.rs
rename to packages/pros-core/src/allocator/vexos.rs
diff --git a/packages/pros-core/src/pros_alloc/wasm.rs b/packages/pros-core/src/allocator/wasm.rs
similarity index 100%
rename from packages/pros-core/src/pros_alloc/wasm.rs
rename to packages/pros-core/src/allocator/wasm.rs
diff --git a/packages/pros-core/src/lib.rs b/packages/pros-core/src/lib.rs
index 37322e9b..042db8cc 100644
--- a/packages/pros-core/src/lib.rs
+++ b/packages/pros-core/src/lib.rs
@@ -17,7 +17,7 @@ extern crate alloc;
 
 pub mod error;
 pub mod io;
-pub mod pros_alloc;
+pub mod allocator;
 pub mod sync;
 pub mod task;
 pub mod time;

From 1c54299603c566b6a2a384dda94b66d365574469 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Mon, 26 Feb 2024 18:51:53 -0800
Subject: [PATCH 84/96] chore: format

---
 packages/pros-core/src/lib.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/packages/pros-core/src/lib.rs b/packages/pros-core/src/lib.rs
index 042db8cc..dc868f74 100644
--- a/packages/pros-core/src/lib.rs
+++ b/packages/pros-core/src/lib.rs
@@ -15,9 +15,9 @@
 
 extern crate alloc;
 
+pub mod allocator;
 pub mod error;
 pub mod io;
-pub mod allocator;
 pub mod sync;
 pub mod task;
 pub mod time;

From fd5bc09cddc2d74d9fad72e5c70be9182031b4df Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Fri, 1 Mar 2024 06:36:34 -0800
Subject: [PATCH 85/96] refactor: disable `sync` feature by default

---
 packages/pros/Cargo.toml          | 2 +-
 packages/pros/examples/optical.rs | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/packages/pros/Cargo.toml b/packages/pros/Cargo.toml
index 20252fa6..e7968736 100644
--- a/packages/pros/Cargo.toml
+++ b/packages/pros/Cargo.toml
@@ -27,7 +27,7 @@ pros-math = { version = "0.1.0", path = "../pros-math", optional = true }
 pros-sys = { version = "0.6.0", path = "../pros-sys" }
 
 [features]
-default = ["async", "sync", "devices", "panic", "display_panics", "core", "math"]
+default = ["async", "devices", "panic", "display_panics", "core", "math"]
 
 core = ["dep:pros-core"]
 
diff --git a/packages/pros/examples/optical.rs b/packages/pros/examples/optical.rs
index d237553d..296abd6e 100644
--- a/packages/pros/examples/optical.rs
+++ b/packages/pros/examples/optical.rs
@@ -16,8 +16,8 @@ impl Robot {
     }
 }
 
-impl SyncRobot for Robot {
-    fn opcontrol(&mut self) -> Result {
+impl AsyncRobot for Robot {
+    async fn opcontrol(&mut self) -> Result {
         loop {
             println!(
 				"-----\nHue: {}\nSaturation: {}\nBrightess: {}\nLast Gesture Direction: {:?}\n-----\n",
@@ -32,4 +32,4 @@ impl SyncRobot for Robot {
     }
 }
 
-sync_robot!(Robot, Robot::new(Peripherals::take().unwrap()));
+async_robot!(Robot, Robot::new(Peripherals::take().unwrap()));

From be01cda723e55b5ed174fa4ffa1e44c6d7aa11f4 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Fri, 1 Mar 2024 12:24:12 -0800
Subject: [PATCH 86/96] fix: use associated screen constants in panic handler

---
 packages/pros-panic/src/lib.rs | 12 ++++--------
 1 file changed, 4 insertions(+), 8 deletions(-)

diff --git a/packages/pros-panic/src/lib.rs b/packages/pros-panic/src/lib.rs
index aefae6e3..220725db 100644
--- a/packages/pros-panic/src/lib.rs
+++ b/packages/pros-panic/src/lib.rs
@@ -34,8 +34,8 @@ fn draw_error(
     let error_box_rect = pros_devices::screen::Rect::new(
         ERROR_BOX_MARGIN,
         ERROR_BOX_MARGIN,
-        pros_devices::screen::SCREEN_HORIZONTAL_RESOLUTION - ERROR_BOX_MARGIN,
-        pros_devices::screen::SCREEN_VERTICAL_RESOLUTION - ERROR_BOX_MARGIN,
+        Screen::HORIZONTAL_RESOLUTION - ERROR_BOX_MARGIN,
+        Screen::VERTICAL_RESOLUTION - ERROR_BOX_MARGIN,
     );
 
     screen.fill(&error_box_rect, pros_devices::color::Rgb::RED)?;
@@ -55,9 +55,7 @@ fn draw_error(
                     buffer.as_str(),
                     pros_devices::screen::TextPosition::Point(
                         ERROR_BOX_MARGIN + ERROR_BOX_PADDING,
-                        ERROR_BOX_MARGIN
-                            + ERROR_BOX_PADDING
-                            + (line * pros_devices::screen::SCREEN_LINE_HEIGHT),
+                        ERROR_BOX_MARGIN + ERROR_BOX_PADDING + (line * Screen::LINE_HEIGHT),
                     ),
                     pros_devices::screen::TextFormat::Small,
                 ),
@@ -74,9 +72,7 @@ fn draw_error(
             buffer.as_str(),
             pros_devices::screen::TextPosition::Point(
                 ERROR_BOX_MARGIN + ERROR_BOX_PADDING,
-                ERROR_BOX_MARGIN
-                    + ERROR_BOX_PADDING
-                    + (line * pros_devices::screen::SCREEN_LINE_HEIGHT),
+                ERROR_BOX_MARGIN + ERROR_BOX_PADDING + (line * Screen::LINE_HEIGHT),
             ),
             pros_devices::screen::TextFormat::Small,
         ),

From 923af4ae76e322d4902a7a0e47ebe134c5e6d9e7 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sat, 2 Mar 2024 01:57:47 -0800
Subject: [PATCH 87/96] chore: bump versions and update changelog

---
 CHANGELOG.md                     | 13 ++++++++++++-
 packages/pros-async/Cargo.toml   |  2 +-
 packages/pros-core/Cargo.toml    |  2 +-
 packages/pros-devices/Cargo.toml |  2 +-
 packages/pros-panic/Cargo.toml   |  2 +-
 packages/pros-sys/Cargo.toml     |  2 +-
 packages/pros/Cargo.toml         |  4 ++--
 7 files changed, 19 insertions(+), 8 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 448f0843..7e6b0afd 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -21,6 +21,16 @@ Before releasing:
 
 ## [Unreleased]
 
+### Added
+
+### Fixed
+
+### Changed
+
+### Removed
+
+## [0.8.0]
+
 ### Added
 - Added feedforward motor controllers (#80)
 - Lightly document all APIs with missing documentation. (#70)
@@ -178,8 +188,9 @@ Before releasing:
 
 ### Removed
 
-[unreleased]: https://github.com/pros-rs/pros-rs/compare/v0.7.0...HEAD
+[unreleased]: https://github.com/pros-rs/pros-rs/compare/v0.8.0...HEAD
 [0.4.0]: https://github.com/pros-rs/pros-rs/releases/tag/v0.4.0
 [0.5.0]: https://github.com/pros-rs/pros-rs/compare/v0.4.0...v0.5.0
 [0.6.0]: https://github.com/pros-rs/pros-rs/compare/v0.5.0...v0.6.0
 [0.7.0]: https://github.com/pros-rs/pros-rs/compare/v0.6.0...v0.7.0
+[0.8.0]: https://github.com/pros-rs/pros-rs/compare/v0.7.0...v0.8.0
diff --git a/packages/pros-async/Cargo.toml b/packages/pros-async/Cargo.toml
index f0c1c941..cdff9b30 100644
--- a/packages/pros-async/Cargo.toml
+++ b/packages/pros-async/Cargo.toml
@@ -9,7 +9,7 @@ edition = "2021"
 async-task = { version = "4.5.0", default-features = false }
 pros-core = { version = "0.1.0", path = "../pros-core" }
 waker-fn = "1.1.1"
-pros-sys = { version = "0.6.0", path = "../pros-sys" }
+pros-sys = { version = "0.7.0", path = "../pros-sys" }
 
 [lints]
 workspace = true
diff --git a/packages/pros-core/Cargo.toml b/packages/pros-core/Cargo.toml
index 8b728b22..60fc43d1 100644
--- a/packages/pros-core/Cargo.toml
+++ b/packages/pros-core/Cargo.toml
@@ -6,7 +6,7 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-pros-sys = { version = "0.6.0", path = "../pros-sys" }
+pros-sys = { version = "0.7.0", path = "../pros-sys" }
 no_std_io = { version = "0.6.0", features = ["alloc"] }
 snafu = { version = "0.8.0", default-features = false, features = [
     "rust_1_61",
diff --git a/packages/pros-devices/Cargo.toml b/packages/pros-devices/Cargo.toml
index 6c58f2f2..17a62012 100644
--- a/packages/pros-devices/Cargo.toml
+++ b/packages/pros-devices/Cargo.toml
@@ -7,7 +7,7 @@ edition = "2021"
 
 [dependencies]
 pros-core = { version = "0.1.0", path = "../pros-core" }
-pros-sys = { path = "../pros-sys", version = "0.6.0", features = ["xapi"] }
+pros-sys = { path = "../pros-sys", version = "0.7.0", features = ["xapi"] }
 snafu = { version = "0.8.0", default-features = false, features = [
     "rust_1_61",
     "unstable-core-error",
diff --git a/packages/pros-panic/Cargo.toml b/packages/pros-panic/Cargo.toml
index 54234af7..0314c46c 100644
--- a/packages/pros-panic/Cargo.toml
+++ b/packages/pros-panic/Cargo.toml
@@ -8,7 +8,7 @@ edition = "2021"
 [dependencies]
 pros-core = { version = "0.1.0", path = "../pros-core" }
 pros-devices = { version = "0.1.0", path = "../pros-devices", optional = true }
-pros-sys = { version = "0.6.0", path = "../pros-sys" }
+pros-sys = { version = "0.7.0", path = "../pros-sys" }
 
 [features]
 default = ["display_panics"]
diff --git a/packages/pros-sys/Cargo.toml b/packages/pros-sys/Cargo.toml
index d9912b00..145824f7 100644
--- a/packages/pros-sys/Cargo.toml
+++ b/packages/pros-sys/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "pros-sys"
-version = "0.6.0"
+version = "0.7.0"
 edition = "2021"
 description = "EFI for the PROS rust bindings"
 keywords = ["PROS", "Robotics", "bindings"]
diff --git a/packages/pros/Cargo.toml b/packages/pros/Cargo.toml
index e7968736..2df5fa64 100644
--- a/packages/pros/Cargo.toml
+++ b/packages/pros/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "pros"
-version = "0.7.0"
+version = "0.8.0"
 edition = "2021"
 description = "Rust bindings for PROS"
 keywords = ["PROS", "Robotics", "bindings"]
@@ -24,7 +24,7 @@ pros-devices = { version = "0.1.0", path = "../pros-devices", optional = true }
 pros-panic = { version = "0.1.0", path = "../pros-panic", optional = true }
 pros-core = { version = "0.1.0", path = "../pros-core", optional = true }
 pros-math = { version = "0.1.0", path = "../pros-math", optional = true }
-pros-sys = { version = "0.6.0", path = "../pros-sys" }
+pros-sys = { version = "0.7.0", path = "../pros-sys" }
 
 [features]
 default = ["async", "devices", "panic", "display_panics", "core", "math"]

From b666c7b7f37a4b5e28419b7c38339049e7428f8c Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sat, 2 Mar 2024 02:49:22 -0800
Subject: [PATCH 88/96] docs: add readme and liscence to all new crates

---
 packages/pros-async/Cargo.toml   |  2 ++
 packages/pros-async/README.md    |  6 ++++++
 packages/pros-core/Cargo.toml    |  2 ++
 packages/pros-core/README.md     | 11 +++++++++++
 packages/pros-devices/Cargo.toml |  2 ++
 packages/pros-devices/README.md  | 15 +++++++++++++++
 packages/pros-math/Cargo.toml    |  2 ++
 packages/pros-math/src/README.md |  3 +++
 packages/pros-panic/Cargo.toml   |  2 ++
 packages/pros-panic/README.md    |  5 +++++
 packages/pros-sync/Cargo.toml    |  2 ++
 packages/pros-sync/README.md     |  1 +
 12 files changed, 53 insertions(+)
 create mode 100644 packages/pros-async/README.md
 create mode 100644 packages/pros-core/README.md
 create mode 100644 packages/pros-devices/README.md
 create mode 100644 packages/pros-math/src/README.md
 create mode 100644 packages/pros-panic/README.md
 create mode 100644 packages/pros-sync/README.md

diff --git a/packages/pros-async/Cargo.toml b/packages/pros-async/Cargo.toml
index cdff9b30..5f88a77b 100644
--- a/packages/pros-async/Cargo.toml
+++ b/packages/pros-async/Cargo.toml
@@ -2,6 +2,8 @@
 name = "pros-async"
 version = "0.1.0"
 edition = "2021"
+license = "MIT"
+description = "A simple async executor for pros-rs"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
diff --git a/packages/pros-async/README.md b/packages/pros-async/README.md
new file mode 100644
index 00000000..abc23d78
--- /dev/null
+++ b/packages/pros-async/README.md
@@ -0,0 +1,6 @@
+# pros-async
+
+Tiny async runtime and robot traits for `pros-rs`.
+The async executor supports spawning tasks and blocking on futures.
+It has a reactor to improve the performance of some futures.
+FreeRTOS tasks can still be used, but it is recommended to use only async tasks for performance.
diff --git a/packages/pros-core/Cargo.toml b/packages/pros-core/Cargo.toml
index 60fc43d1..4430d545 100644
--- a/packages/pros-core/Cargo.toml
+++ b/packages/pros-core/Cargo.toml
@@ -2,6 +2,8 @@
 name = "pros-core"
 version = "0.1.0"
 edition = "2021"
+license = "MIT"
+description = "Core functionality for pros-rs"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
diff --git a/packages/pros-core/README.md b/packages/pros-core/README.md
new file mode 100644
index 00000000..cd2a7a3b
--- /dev/null
+++ b/packages/pros-core/README.md
@@ -0,0 +1,11 @@
+# pros-core
+Low level core functionality for [`pros-rs`](https://crates.io/crates/pros).
+The core crate is used in all other crates in the pros-rs ecosystem.
+Included in this crate:
+- Global allocator
+- Competition state checking
+- Errno handling
+- Serial terminal printing
+- No-std `Instant`s
+- Synchronization primitives
+- FreeRTOS task management
diff --git a/packages/pros-devices/Cargo.toml b/packages/pros-devices/Cargo.toml
index 17a62012..9919ac9f 100644
--- a/packages/pros-devices/Cargo.toml
+++ b/packages/pros-devices/Cargo.toml
@@ -2,6 +2,8 @@
 name = "pros-devices"
 version = "0.1.0"
 edition = "2021"
+license = "MIT"
+description = "High level device for pros-rs"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
diff --git a/packages/pros-devices/README.md b/packages/pros-devices/README.md
new file mode 100644
index 00000000..6054c421
--- /dev/null
+++ b/packages/pros-devices/README.md
@@ -0,0 +1,15 @@
+This module provides functionality for accessing hardware annected to the V5 brain.
+
+# Overview
+
+The V5 brain features 21 RJ9 4p4c connector ports (known as "Smart ts")for communicating with
+newer V5 peripherals, as well as six 3-wire ports with log-to-digitalconversion capability for
+compatibility with legacy cortex devices. This module provides access both smart devices and
+ADI devices.
+
+# Organization
+
+- `smart` contains abstractions and types for smart port connected ices.
+- `adi` contains abstractions for three wire ADI connected devices.
+- `battery` provides functions for getting information about the battery.
+- `controller` provides types for interacting with the V5 controller.
diff --git a/packages/pros-math/Cargo.toml b/packages/pros-math/Cargo.toml
index 279a41d8..c9ec93ad 100644
--- a/packages/pros-math/Cargo.toml
+++ b/packages/pros-math/Cargo.toml
@@ -2,6 +2,8 @@
 name = "pros-math"
 version = "0.1.0"
 edition = "2021"
+license = "MIT"
+description = "Commonly used mathematical formulas for pros-rs"
 
 [dependencies]
 num = { version = "0.4.1", default-features = false }
diff --git a/packages/pros-math/src/README.md b/packages/pros-math/src/README.md
new file mode 100644
index 00000000..ea2cda52
--- /dev/null
+++ b/packages/pros-math/src/README.md
@@ -0,0 +1,3 @@
+# pros-math
+
+Common mathematical formulas and models implemented for [`pros-rs`](https://crates.io/crates/pros).
diff --git a/packages/pros-panic/Cargo.toml b/packages/pros-panic/Cargo.toml
index 0314c46c..f74e5478 100644
--- a/packages/pros-panic/Cargo.toml
+++ b/packages/pros-panic/Cargo.toml
@@ -2,6 +2,8 @@
 name = "pros-panic"
 version = "0.1.0"
 edition = "2021"
+license = "MIT"
+description = "Panic handler for pros-rs"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
diff --git a/packages/pros-panic/README.md b/packages/pros-panic/README.md
new file mode 100644
index 00000000..9b485e8a
--- /dev/null
+++ b/packages/pros-panic/README.md
@@ -0,0 +1,5 @@
+# pros-panic
+
+Panic handler implementation for [`pros-rs`](https://crates.io/crates/pros-rs).
+Supports printing a backtrace when running in the simulator.
+If the `display_panics` feature is enabled, it will also display the panic message on the V5 Brain display.
diff --git a/packages/pros-sync/Cargo.toml b/packages/pros-sync/Cargo.toml
index 1df90f53..45eee70e 100644
--- a/packages/pros-sync/Cargo.toml
+++ b/packages/pros-sync/Cargo.toml
@@ -2,6 +2,8 @@
 name = "pros-sync"
 version = "0.1.0"
 edition = "2021"
+license = "MIT"
+description = "`SyncRobot` trait and macro for pros-rs"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
diff --git a/packages/pros-sync/README.md b/packages/pros-sync/README.md
new file mode 100644
index 00000000..e1804501
--- /dev/null
+++ b/packages/pros-sync/README.md
@@ -0,0 +1 @@
+Synchronous robot code trait for [pros-rs](https://crates.io/crates/pros).

From 96d16535f484369a2b9b0da49daeb58ac9cb8f04 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sat, 2 Mar 2024 02:54:04 -0800
Subject: [PATCH 89/96] docs: add keywords and categories to new crates

---
 packages/pros-async/Cargo.toml   | 6 ++++++
 packages/pros-core/Cargo.toml    | 6 ++++++
 packages/pros-devices/Cargo.toml | 6 ++++++
 packages/pros-math/Cargo.toml    | 5 +++++
 packages/pros-panic/Cargo.toml   | 5 +++++
 packages/pros-sync/Cargo.toml    | 5 +++++
 6 files changed, 33 insertions(+)

diff --git a/packages/pros-async/Cargo.toml b/packages/pros-async/Cargo.toml
index 5f88a77b..e5292c76 100644
--- a/packages/pros-async/Cargo.toml
+++ b/packages/pros-async/Cargo.toml
@@ -4,6 +4,12 @@ version = "0.1.0"
 edition = "2021"
 license = "MIT"
 description = "A simple async executor for pros-rs"
+keywords = ["PROS", "Robotics", "bindings", "async"]
+categories = [
+    "no-std",
+    "science::robotics",
+    "Asynchronous"
+]
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
diff --git a/packages/pros-core/Cargo.toml b/packages/pros-core/Cargo.toml
index 4430d545..fe7407b1 100644
--- a/packages/pros-core/Cargo.toml
+++ b/packages/pros-core/Cargo.toml
@@ -4,6 +4,12 @@ version = "0.1.0"
 edition = "2021"
 license = "MIT"
 description = "Core functionality for pros-rs"
+keywords = ["PROS", "Robotics", "bindings"]
+categories = [
+    "api-bindings",
+    "no-std",
+    "science::robotics",
+]
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
diff --git a/packages/pros-devices/Cargo.toml b/packages/pros-devices/Cargo.toml
index 9919ac9f..b9b23a29 100644
--- a/packages/pros-devices/Cargo.toml
+++ b/packages/pros-devices/Cargo.toml
@@ -4,6 +4,12 @@ version = "0.1.0"
 edition = "2021"
 license = "MIT"
 description = "High level device for pros-rs"
+keywords = ["PROS", "Robotics", "bindings"]
+categories = [
+    "api-bindings",
+    "no-std",
+    "science::robotics",
+]
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
diff --git a/packages/pros-math/Cargo.toml b/packages/pros-math/Cargo.toml
index c9ec93ad..64b70cb8 100644
--- a/packages/pros-math/Cargo.toml
+++ b/packages/pros-math/Cargo.toml
@@ -4,6 +4,11 @@ version = "0.1.0"
 edition = "2021"
 license = "MIT"
 description = "Commonly used mathematical formulas for pros-rs"
+keywords = ["PROS", "Robotics"]
+categories = [
+    "no-std",
+    "science::robotics",
+]
 
 [dependencies]
 num = { version = "0.4.1", default-features = false }
diff --git a/packages/pros-panic/Cargo.toml b/packages/pros-panic/Cargo.toml
index f74e5478..174b085e 100644
--- a/packages/pros-panic/Cargo.toml
+++ b/packages/pros-panic/Cargo.toml
@@ -4,6 +4,11 @@ version = "0.1.0"
 edition = "2021"
 license = "MIT"
 description = "Panic handler for pros-rs"
+keywords = ["PROS", "Robotics"]
+categories = [
+    "no-std",
+    "science::robotics",
+]
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
diff --git a/packages/pros-sync/Cargo.toml b/packages/pros-sync/Cargo.toml
index 45eee70e..176ac926 100644
--- a/packages/pros-sync/Cargo.toml
+++ b/packages/pros-sync/Cargo.toml
@@ -4,6 +4,11 @@ version = "0.1.0"
 edition = "2021"
 license = "MIT"
 description = "`SyncRobot` trait and macro for pros-rs"
+keywords = ["PROS", "Robotics"]
+categories = [
+    "no-std",
+    "science::robotics",
+]
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 

From 14f6a46cc4e5f484315896e8fe45cd68feb2c041 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sat, 2 Mar 2024 02:56:09 -0800
Subject: [PATCH 90/96] docs: add authors to new crates

---
 packages/pros-async/Cargo.toml   | 6 ++++++
 packages/pros-core/Cargo.toml    | 6 ++++++
 packages/pros-devices/Cargo.toml | 6 ++++++
 packages/pros-math/Cargo.toml    | 6 ++++++
 packages/pros-panic/Cargo.toml   | 6 ++++++
 packages/pros-sync/Cargo.toml    | 6 ++++++
 6 files changed, 36 insertions(+)

diff --git a/packages/pros-async/Cargo.toml b/packages/pros-async/Cargo.toml
index e5292c76..6f5f7c60 100644
--- a/packages/pros-async/Cargo.toml
+++ b/packages/pros-async/Cargo.toml
@@ -10,6 +10,12 @@ categories = [
     "science::robotics",
     "Asynchronous"
 ]
+repository = "https://github.com/gavin-niederman/pros-rs"
+authors = [
+    "pros-rs",
+    "Gavin Niederman <gavinniederman@gmail.com>",
+    "doinkythederp <doinkythederp@icloud.com>",
+]
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
diff --git a/packages/pros-core/Cargo.toml b/packages/pros-core/Cargo.toml
index fe7407b1..8c8178d2 100644
--- a/packages/pros-core/Cargo.toml
+++ b/packages/pros-core/Cargo.toml
@@ -10,6 +10,12 @@ categories = [
     "no-std",
     "science::robotics",
 ]
+repository = "https://github.com/gavin-niederman/pros-rs"
+authors = [
+    "pros-rs",
+    "Gavin Niederman <gavinniederman@gmail.com>",
+    "doinkythederp <doinkythederp@icloud.com>",
+]
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
diff --git a/packages/pros-devices/Cargo.toml b/packages/pros-devices/Cargo.toml
index b9b23a29..dcd81671 100644
--- a/packages/pros-devices/Cargo.toml
+++ b/packages/pros-devices/Cargo.toml
@@ -10,6 +10,12 @@ categories = [
     "no-std",
     "science::robotics",
 ]
+repository = "https://github.com/gavin-niederman/pros-rs"
+authors = [
+    "pros-rs",
+    "Gavin Niederman <gavinniederman@gmail.com>",
+    "doinkythederp <doinkythederp@icloud.com>",
+]
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
diff --git a/packages/pros-math/Cargo.toml b/packages/pros-math/Cargo.toml
index 64b70cb8..64c5d8f2 100644
--- a/packages/pros-math/Cargo.toml
+++ b/packages/pros-math/Cargo.toml
@@ -9,6 +9,12 @@ categories = [
     "no-std",
     "science::robotics",
 ]
+repository = "https://github.com/gavin-niederman/pros-rs"
+authors = [
+    "pros-rs",
+    "Gavin Niederman <gavinniederman@gmail.com>",
+    "doinkythederp <doinkythederp@icloud.com>",
+]
 
 [dependencies]
 num = { version = "0.4.1", default-features = false }
diff --git a/packages/pros-panic/Cargo.toml b/packages/pros-panic/Cargo.toml
index 174b085e..96cd07ef 100644
--- a/packages/pros-panic/Cargo.toml
+++ b/packages/pros-panic/Cargo.toml
@@ -9,6 +9,12 @@ categories = [
     "no-std",
     "science::robotics",
 ]
+repository = "https://github.com/gavin-niederman/pros-rs"
+authors = [
+    "pros-rs",
+    "Gavin Niederman <gavinniederman@gmail.com>",
+    "doinkythederp <doinkythederp@icloud.com>",
+]
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
diff --git a/packages/pros-sync/Cargo.toml b/packages/pros-sync/Cargo.toml
index 176ac926..358193de 100644
--- a/packages/pros-sync/Cargo.toml
+++ b/packages/pros-sync/Cargo.toml
@@ -9,6 +9,12 @@ categories = [
     "no-std",
     "science::robotics",
 ]
+repository = "https://github.com/gavin-niederman/pros-rs"
+authors = [
+    "pros-rs",
+    "Gavin Niederman <gavinniederman@gmail.com>",
+    "doinkythederp <doinkythederp@icloud.com>",
+]
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 

From c3222e94968c68f8dcf35602c04bcfc4fd59ec3b Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sat, 2 Mar 2024 03:06:56 -0800
Subject: [PATCH 91/96] docs: update pros-devices readme

---
 packages/pros-devices/README.md | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/packages/pros-devices/README.md b/packages/pros-devices/README.md
index 6054c421..6c0f5042 100644
--- a/packages/pros-devices/README.md
+++ b/packages/pros-devices/README.md
@@ -1,4 +1,6 @@
-This module provides functionality for accessing hardware annected to the V5 brain.
+# pros-devices
+
+functionality for accessing hardware connected to the V5 brain.
 
 # Overview
 

From 89354609944228e9a5c2a5ded89ed60963f91e89 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sat, 2 Mar 2024 03:08:04 -0800
Subject: [PATCH 92/96] docs: update pros-sync readme

---
 packages/pros-sync/README.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/packages/pros-sync/README.md b/packages/pros-sync/README.md
index e1804501..e65db59a 100644
--- a/packages/pros-sync/README.md
+++ b/packages/pros-sync/README.md
@@ -1 +1,3 @@
+# pros-sync
+
 Synchronous robot code trait for [pros-rs](https://crates.io/crates/pros).

From 691a58547351a1129d50e71209c461701a254ffb Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Sat, 2 Mar 2024 03:11:39 -0800
Subject: [PATCH 93/96] fix: move pros-math readme into crate directory

---
 packages/pros-math/{src => }/README.md | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename packages/pros-math/{src => }/README.md (100%)

diff --git a/packages/pros-math/src/README.md b/packages/pros-math/README.md
similarity index 100%
rename from packages/pros-math/src/README.md
rename to packages/pros-math/README.md

From 9acac8df811e65965504c64203ed133714787b74 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Tue, 5 Mar 2024 20:30:44 -0800
Subject: [PATCH 94/96] docs: correct grammar errors

---
 packages/pros-devices/README.md  | 11 ++++-------
 packages/pros-devices/src/lib.rs | 13 +++++--------
 packages/pros-sys/README.md      |  4 ++--
 3 files changed, 11 insertions(+), 17 deletions(-)

diff --git a/packages/pros-devices/README.md b/packages/pros-devices/README.md
index 6c0f5042..b5e924ee 100644
--- a/packages/pros-devices/README.md
+++ b/packages/pros-devices/README.md
@@ -1,15 +1,12 @@
 # pros-devices
 
-functionality for accessing hardware connected to the V5 brain.
+Functionality for accessing hardware connected to the V5 brain.
 
-# Overview
+## Overview
 
-The V5 brain features 21 RJ9 4p4c connector ports (known as "Smart ts")for communicating with
-newer V5 peripherals, as well as six 3-wire ports with log-to-digitalconversion capability for
-compatibility with legacy cortex devices. This module provides access both smart devices and
-ADI devices.
+The V5 brain features 21 RJ9 4p4c connector ports (known as "Smart ports") for communicating with newer V5 peripherals, as well as six 3-wire ports with log-to-digital conversion capability for compatibility with legacy Cortex devices. This module provides access to both smart devices and ADI devices.
 
-# Organization
+## Organization
 
 - `smart` contains abstractions and types for smart port connected ices.
 - `adi` contains abstractions for three wire ADI connected devices.
diff --git a/packages/pros-devices/src/lib.rs b/packages/pros-devices/src/lib.rs
index f4c7dfe0..d3e19f4e 100644
--- a/packages/pros-devices/src/lib.rs
+++ b/packages/pros-devices/src/lib.rs
@@ -1,15 +1,12 @@
-//! Devices
+//! # pros-devices
 //!
-//! This module provides functionality for accessing hardware and devices connected to the V5 brain.
+//! Functionality for accessing hardware connected to the V5 brain.
 //!
-//! # Overview
+//! ## Overview
 //!
-//! The V5 brain features 21 RJ9 4p4c connector ports (known as "Smart Ports") for communicating with
-//! newer V5 peripherals, as well as six 3-wire ports with analog-to-digital conversion capability for
-//! compatibility with legacy cortex devices. This module provides access for both smart devices and
-//! ADI devices.
+//! The V5 brain features 21 RJ9 4p4c connector ports (known as "Smart ports") for communicating with newer V5 peripherals, as well as six 3-wire ports with log-to-digital conversion capability for compatibility with legacy Cortex devices. This module provides access to both smart devices and ADI devices.
 //!
-//! # Organization
+//! ## Organization
 //!
 //! - [`smart`] contains abstractions and types for smart port connected devices.
 //! - [`adi`] contains abstractions for three wire ADI connected devices.
diff --git a/packages/pros-sys/README.md b/packages/pros-sys/README.md
index 2623d9de..9182522b 100644
--- a/packages/pros-sys/README.md
+++ b/packages/pros-sys/README.md
@@ -1,7 +1,7 @@
 # Pros-sys
 
- EFI for Rust PROS bindings, used in [pros-rs](https://crates.io/crates/pros)
+EFI for Rust PROS bindings, used in [pros-rs](https://crates.io/crates/pros)
 
 ## This project is still very early in development
 
- Make sure to check out the todo list [(TODO.md)](../TODO.md)
+Make sure to check out the todo list [(TODO.md)](../TODO.md)

From ce8ed54a027c06a440d27da0a0108d3c4c94512f Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Tue, 5 Mar 2024 20:37:22 -0800
Subject: [PATCH 95/96] docs: add vex and v5 to crate keywords

---
 packages/pros-async/Cargo.toml   | 2 +-
 packages/pros-core/Cargo.toml    | 2 +-
 packages/pros-devices/Cargo.toml | 2 +-
 packages/pros-math/Cargo.toml    | 3 ++-
 packages/pros-panic/Cargo.toml   | 2 +-
 packages/pros-sync/Cargo.toml    | 2 +-
 packages/pros-sys/Cargo.toml     | 2 +-
 packages/pros/Cargo.toml         | 2 +-
 8 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/packages/pros-async/Cargo.toml b/packages/pros-async/Cargo.toml
index 6f5f7c60..498b9af2 100644
--- a/packages/pros-async/Cargo.toml
+++ b/packages/pros-async/Cargo.toml
@@ -4,7 +4,7 @@ version = "0.1.0"
 edition = "2021"
 license = "MIT"
 description = "A simple async executor for pros-rs"
-keywords = ["PROS", "Robotics", "bindings", "async"]
+keywords = ["PROS", "Robotics", "bindings", "async", "vex", "v5"]
 categories = [
     "no-std",
     "science::robotics",
diff --git a/packages/pros-core/Cargo.toml b/packages/pros-core/Cargo.toml
index 8c8178d2..ed6c827a 100644
--- a/packages/pros-core/Cargo.toml
+++ b/packages/pros-core/Cargo.toml
@@ -4,7 +4,7 @@ version = "0.1.0"
 edition = "2021"
 license = "MIT"
 description = "Core functionality for pros-rs"
-keywords = ["PROS", "Robotics", "bindings"]
+keywords = ["PROS", "Robotics", "bindings", "vex", "v5"]
 categories = [
     "api-bindings",
     "no-std",
diff --git a/packages/pros-devices/Cargo.toml b/packages/pros-devices/Cargo.toml
index dcd81671..6d49ac81 100644
--- a/packages/pros-devices/Cargo.toml
+++ b/packages/pros-devices/Cargo.toml
@@ -4,7 +4,7 @@ version = "0.1.0"
 edition = "2021"
 license = "MIT"
 description = "High level device for pros-rs"
-keywords = ["PROS", "Robotics", "bindings"]
+keywords = ["PROS", "Robotics", "bindings", "vex", "v5"]
 categories = [
     "api-bindings",
     "no-std",
diff --git a/packages/pros-math/Cargo.toml b/packages/pros-math/Cargo.toml
index 64c5d8f2..e2a39aca 100644
--- a/packages/pros-math/Cargo.toml
+++ b/packages/pros-math/Cargo.toml
@@ -4,10 +4,11 @@ version = "0.1.0"
 edition = "2021"
 license = "MIT"
 description = "Commonly used mathematical formulas for pros-rs"
-keywords = ["PROS", "Robotics"]
+keywords = ["PROS", "Robotics", "vex", "v5"]
 categories = [
     "no-std",
     "science::robotics",
+    "Mathematics",
 ]
 repository = "https://github.com/gavin-niederman/pros-rs"
 authors = [
diff --git a/packages/pros-panic/Cargo.toml b/packages/pros-panic/Cargo.toml
index 96cd07ef..39237284 100644
--- a/packages/pros-panic/Cargo.toml
+++ b/packages/pros-panic/Cargo.toml
@@ -4,7 +4,7 @@ version = "0.1.0"
 edition = "2021"
 license = "MIT"
 description = "Panic handler for pros-rs"
-keywords = ["PROS", "Robotics"]
+keywords = ["PROS", "Robotics", "vex", "v5"]
 categories = [
     "no-std",
     "science::robotics",
diff --git a/packages/pros-sync/Cargo.toml b/packages/pros-sync/Cargo.toml
index 358193de..e30b4f0b 100644
--- a/packages/pros-sync/Cargo.toml
+++ b/packages/pros-sync/Cargo.toml
@@ -4,7 +4,7 @@ version = "0.1.0"
 edition = "2021"
 license = "MIT"
 description = "`SyncRobot` trait and macro for pros-rs"
-keywords = ["PROS", "Robotics"]
+keywords = ["PROS", "Robotics", "vex", "v5"]
 categories = [
     "no-std",
     "science::robotics",
diff --git a/packages/pros-sys/Cargo.toml b/packages/pros-sys/Cargo.toml
index 145824f7..682b1784 100644
--- a/packages/pros-sys/Cargo.toml
+++ b/packages/pros-sys/Cargo.toml
@@ -3,7 +3,7 @@ name = "pros-sys"
 version = "0.7.0"
 edition = "2021"
 description = "EFI for the PROS rust bindings"
-keywords = ["PROS", "Robotics", "bindings"]
+keywords = ["PROS", "Robotics", "bindings", "vex", "v5"]
 categories = [
     "api-bindings",
     "development-tools::ffi",
diff --git a/packages/pros/Cargo.toml b/packages/pros/Cargo.toml
index 2df5fa64..4740916b 100644
--- a/packages/pros/Cargo.toml
+++ b/packages/pros/Cargo.toml
@@ -3,7 +3,7 @@ name = "pros"
 version = "0.8.0"
 edition = "2021"
 description = "Rust bindings for PROS"
-keywords = ["PROS", "Robotics", "bindings"]
+keywords = ["PROS", "Robotics", "bindings", "vex", "v5"]
 categories = ["os", "api-bindings", "no-std", "science::robotics"]
 license = "MIT"
 repository = "https://github.com/pros-rs/pros-rs"

From dc115463c5931443423c5ccd5a45a20280f8c169 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Tue, 5 Mar 2024 20:43:43 -0800
Subject: [PATCH 96/96] fix: remove competition state checking from pros-core
 docs

---
 packages/pros-core/README.md  | 1 -
 packages/pros-core/src/lib.rs | 1 -
 2 files changed, 2 deletions(-)

diff --git a/packages/pros-core/README.md b/packages/pros-core/README.md
index cd2a7a3b..fd26132c 100644
--- a/packages/pros-core/README.md
+++ b/packages/pros-core/README.md
@@ -3,7 +3,6 @@ Low level core functionality for [`pros-rs`](https://crates.io/crates/pros).
 The core crate is used in all other crates in the pros-rs ecosystem.
 Included in this crate:
 - Global allocator
-- Competition state checking
 - Errno handling
 - Serial terminal printing
 - No-std `Instant`s
diff --git a/packages/pros-core/src/lib.rs b/packages/pros-core/src/lib.rs
index dc868f74..67838b74 100644
--- a/packages/pros-core/src/lib.rs
+++ b/packages/pros-core/src/lib.rs
@@ -3,7 +3,6 @@
 //!
 //! Included in this crate:
 //! - Global allocator: [`pros_alloc`]
-//! - Competition state checking: [`competition`]
 //! - Errno handling: [`error`]
 //! - Serial terminal printing: [`io`]
 //! - No-std [`Instant`](time::Instant)s: [`time`]