🔖 Release/4.1.0 (#668)

* Start of work on motors docs * Add descriptions for color files. * Error.h * gps.hpp done * Gps.h done * More motors docs * Motor docs and fixed the build * added changes to device.hpp, distance.hpp and imu.hpp * Revert "added changes to device.hpp, distance.hpp and" This reverts commit 380a2de. * Do the link files * attempt to fix issue with ADI * Fix ADI Doc value * Remove accidental addition of extra bracket * AbstractMotor work * attempt to refix something * yep looks like that was the culprit * Add it back because it was breaking stuff * The serial files * Optical cpp examples * Get rid of legacy api file (nobody uses PROS 2 API anymore) * Update documentation for the llemu api * Update rtos.h * Attempt to fix adi doc bracketing * Update rtos.h * Fix up formatting on rtos.h * try something really stupid * Finished functions in motors.h * progress on motors.hpp * Update adi bracketting * Fix adi.h bracketing again * Comment brackets in rtos.h * Try removing \enum and \typedef to see if that breaks m.css * Try removing \def * Try some more things to fix CI * Strip name and group commands to see if that lets the CI get further * More more motors.hpp work * Update rtos.h * More rtos.h updates * abstract motor work * rotation.h and rotation.hpp documentation * Fixes to code examples. * do some of the _all functions * more stuff * imu_set_euler * MOTORS.HPP DONE * added example for device.h * fix typo * added example for device.hpp * fix issue * fix formatting * fix and add example in distance.h * WIP on rtos.hpp * ext_adi.h file * fix typo in distance.h * motors and motor group fixes * Trying to fix motor linking * Wip in rtos * update example in device.hpp * updated device.hpp examples * updated distance.hpp examples * fix typo in device.h * fix typo in device.hpp * Vision c++ header docs * Update motors * docs for mics, screen and abstract_motor(enum) * Fix up device file, apix.h work * added example for constructors in device.hpp and distance.hpp * imu.hpp function examples * Small edit for imu.hpp function examples * Added header for imu.hpp constructor * Small edit for imu.hpp constructor header * Remove links * Fix up color and device files * Finish rtos.h and rtos.hpp * Fix cpp-link * Fixes to motors docs * Rotation.hpp docs updates * Reverse Flag param in Rotation constructor * Formatting fixes * Fix motor groups and fix colors * fixed file for motor group * Fix bracketing * Fix MG docs * Remove PROS 2 references, fix up readmes * Another fix * Most of the work done for motor groups * Fix missing end codes * Almost done * FINISHED MOTOR GROUPS * added namespace for screen.hpp * Update version * Fix a couple enum/struct issues * 📝 Some fixes for motor headers * 📝 Some fixes for enums * 🐛Motor bug fixes and add new set_gearing (#611) * ✨Add list_files function (#612) * Add list_files * renamed c function * Clarify the docs * ✨ ADI Get Port (#613) * Initial Commit. Added get_port() for adi. * Second commit. Fixed changes. * 🐛Vex link default override (#614) * Initial Commit. Changed defualt param. * Fixed param docs * ✨Field Control State Getter (#608) * Field Control State Getter * Fixed merge issues * Removed left over testing code * change macros to enum/functions --------- Co-authored-by: noam987 <[email protected]> Co-authored-by: noam987 <[email protected]> * Added vexFileSync when writing to files (#619) * 🐛Fix rotation sensor reversed port (#618) * 🐛 Field Control Getter Return Value (#627) * Field Control State Getter * Fixed merge issues * Removed left over testing code * change macros to enum/functions * fix return value issue * fixed version --------- Co-authored-by: noam987 <[email protected]> Co-authored-by: noam987 <[email protected]> * ✨default the VFS to the sd card (#621) * Fix motor voltage limit port mutex returning * Initial implementation for get_all_devices * Remove use of templating * modify gps functions * add example code to gps header files * revert api.h and version * add newline at end of gps.c * add newline at end of version * Completed get_all_devices member function for all critical devices * Fix compile issues * 🐛ADI mutex fix (#633) * Fixed duplicate zero indexing in ext_adi_led_set_pixel as well as validate_type * testing * Fixed zero indexing * fix merge * removes an extra -1 * Add missing -1 * Last -1 * Fix return without releasing mutex --------- Co-authored-by: noam987 <[email protected]> * ✨Adds static getters for some devices (#653) * imu_v1 * revert main.cpp * Add injector for gps * rename to _ casing and add vision sensor * 📝 PROS 4: Documentation Fixes for optical and distance sensor (#654) * Documentation Fixes for optical sensor * Distance sensor documentation fixes * Added alias function get_distance for get for distance sensor * Update get_distance func header for distance sensor * 🐛Fixed Imu::is_calibrating function for PROS 4 #626 (#629) * Fixed Imu::is_calibrating function Updated imu status enums to properly reflect values returned by get_status. Also modifed imu::is_calibrating so it returns the correct value. * Bugfixes from the pros 3 version --------- Co-authored-by: noam987 <[email protected]> Co-authored-by: noam987 <[email protected]> * 🐛Remove = overload from motor groups (#656) * 📝Update docs for pre-release (#657) * Update version * 🐛 Fix pros::E_TEXT_LARGE_CENTER Simple Name * Update version numbers * 🐛Motor bug fixes and add new set_gearing (#611) * ✨Add list_files function (#612) * Add list_files * renamed c function * Clarify the docs * ✨ ADI Get Port (#613) * Initial Commit. Added get_port() for adi. * Second commit. Fixed changes. * 🐛Vex link default override (#614) * Initial Commit. Changed defualt param. * Fixed param docs * ✨Field Control State Getter (#608) * Field Control State Getter * Fixed merge issues * Removed left over testing code * change macros to enum/functions --------- Co-authored-by: noam987 <[email protected]> Co-authored-by: noam987 <[email protected]> * Added vexFileSync when writing to files (#619) * 🐛Fix rotation sensor reversed port (#618) * 🐛 Field Control Getter Return Value (#627) * Field Control State Getter * Fixed merge issues * Removed left over testing code * change macros to enum/functions * fix return value issue * fixed version --------- Co-authored-by: noam987 <[email protected]> Co-authored-by: noam987 <[email protected]> * ✨default the VFS to the sd card (#621) * Fix motor voltage limit port mutex returning * Initial implementation for get_all_devices * Remove use of templating * modify gps functions * add example code to gps header files * revert api.h and version * add newline at end of gps.c * add newline at end of version * Completed get_all_devices member function for all critical devices * Fix compile issues * 🐛ADI mutex fix (#633) * Fixed duplicate zero indexing in ext_adi_led_set_pixel as well as validate_type * testing * Fixed zero indexing * fix merge * removes an extra -1 * Add missing -1 * Last -1 * Fix return without releasing mutex --------- Co-authored-by: noam987 <[email protected]> * ✨Adds static getters for some devices (#653) * imu_v1 * revert main.cpp * Add injector for gps * rename to _ casing and add vision sensor * 📝 PROS 4: Documentation Fixes for optical and distance sensor (#654) * Documentation Fixes for optical sensor * Distance sensor documentation fixes * Added alias function get_distance for get for distance sensor * Update get_distance func header for distance sensor * 🐛Fixed Imu::is_calibrating function for PROS 4 #626 (#629) * Fixed Imu::is_calibrating function Updated imu status enums to properly reflect values returned by get_status. Also modifed imu::is_calibrating so it returns the correct value. * Bugfixes from the pros 3 version --------- Co-authored-by: noam987 <[email protected]> Co-authored-by: noam987 <[email protected]> * 🐛Remove = overload from motor groups (#656) --------- Co-authored-by: Richard Stump <[email protected]> Co-authored-by: Will Xu <[email protected]> Co-authored-by: Will Xu <[email protected]> Co-authored-by: phinc23 <[email protected]> Co-authored-by: Yuechan Li <[email protected]> Co-authored-by: Sprocket Riggs <[email protected]> Co-authored-by: Cooper7196 <[email protected]> Co-authored-by: Gavin-Niederman <[email protected]> Co-authored-by: aberiggs <[email protected]> Co-authored-by: Yuechan Li <[email protected]> Co-authored-by: Gracelu128 <[email protected]> Co-authored-by: Richard Li <[email protected]> * Update version numbers (#658) * 🐛Fix imu get device typo (#659) * Fix motor docs * minor docs fixes * 📝 Fix typo in main.h (#662) * Add documentation to literals * 📝 Fix typo in main.cpp (#663) * Fix a typo in main.h * Fix a typo in main.cpp * 🐛Converts appending, and constructors to take in AbstractMotor& instead of MotorGroup& (#661) * 📝Update docs for pre-release (#657) * Update version * 🐛 Fix pros::E_TEXT_LARGE_CENTER Simple Name * Update version numbers * 🐛Motor bug fixes and add new set_gearing (#611) * ✨Add list_files function (#612) * Add list_files * renamed c function * Clarify the docs * ✨ ADI Get Port (#613) * Initial Commit. Added get_port() for adi. * Second commit. Fixed changes. * 🐛Vex link default override (#614) * Initial Commit. Changed defualt param. * Fixed param docs * ✨Field Control State Getter (#608) * Field Control State Getter * Fixed merge issues * Removed left over testing code * change macros to enum/functions --------- Co-authored-by: noam987 <[email protected]> Co-authored-by: noam987 <[email protected]> * Added vexFileSync when writing to files (#619) * 🐛Fix rotation sensor reversed port (#618) * 🐛 Field Control Getter Return Value (#627) * Field Control State Getter * Fixed merge issues * Removed left over testing code * change macros to enum/functions * fix return value issue * fixed version --------- Co-authored-by: noam987 <[email protected]> Co-authored-by: noam987 <[email protected]> * ✨default the VFS to the sd card (#621) * Fix motor voltage limit port mutex returning * Initial implementation for get_all_devices * Remove use of templating * modify gps functions * add example code to gps header files * revert api.h and version * add newline at end of gps.c * add newline at end of version * Completed get_all_devices member function for all critical devices * Fix compile issues * 🐛ADI mutex fix (#633) * Fixed duplicate zero indexing in ext_adi_led_set_pixel as well as validate_type * testing * Fixed zero indexing * fix merge * removes an extra -1 * Add missing -1 * Last -1 * Fix return without releasing mutex --------- Co-authored-by: noam987 <[email protected]> * ✨Adds static getters for some devices (#653) * imu_v1 * revert main.cpp * Add injector for gps * rename to _ casing and add vision sensor * 📝 PROS 4: Documentation Fixes for optical and distance sensor (#654) * Documentation Fixes for optical sensor * Distance sensor documentation fixes * Added alias function get_distance for get for distance sensor * Update get_distance func header for distance sensor * 🐛Fixed Imu::is_calibrating function for PROS 4 #626 (#629) * Fixed Imu::is_calibrating function Updated imu status enums to properly reflect values returned by get_status. Also modifed imu::is_calibrating so it returns the correct value. * Bugfixes from the pros 3 version --------- Co-authored-by: noam987 <[email protected]> Co-authored-by: noam987 <[email protected]> * 🐛Remove = overload from motor groups (#656) --------- Co-authored-by: Richard Stump <[email protected]> Co-authored-by: Will Xu <[email protected]> Co-authored-by: Will Xu <[email protected]> Co-authored-by: phinc23 <[email protected]> Co-authored-by: Yuechan Li <[email protected]> Co-authored-by: Sprocket Riggs <[email protected]> Co-authored-by: Cooper7196 <[email protected]> Co-authored-by: Gavin-Niederman <[email protected]> Co-authored-by: aberiggs <[email protected]> Co-authored-by: Yuechan Li <[email protected]> Co-authored-by: Gracelu128 <[email protected]> Co-authored-by: Richard Li <[email protected]> * Fix motor docs * minor docs fixes * Compiles, haven't tested past that * Revert main.cpp * remove extra includes in main * another small style fix * ixed issue found during testing --------- Co-authored-by: Richard Stump <[email protected]> Co-authored-by: Will Xu <[email protected]> Co-authored-by: Will Xu <[email protected]> Co-authored-by: phinc23 <[email protected]> Co-authored-by: Yuechan Li <[email protected]> Co-authored-by: Sprocket Riggs <[email protected]> Co-authored-by: Cooper7196 <[email protected]> Co-authored-by: Gavin-Niederman <[email protected]> Co-authored-by: aberiggs <[email protected]> Co-authored-by: Yuechan Li <[email protected]> Co-authored-by: Gracelu128 <[email protected]> Co-authored-by: Richard Li <[email protected]> * 📝Docs + implementation forgotten for rotation sensor (#665) * Fix compile issues * Update version nums --------- Co-authored-by: Noam987 <[email protected]> Co-authored-by: Will Xu <[email protected]> Co-authored-by: Richard Stump <[email protected]> Co-authored-by: Aaryan Gautam <[email protected]> Co-authored-by: Andrew Lu <[email protected]> Co-authored-by: aberiggs <[email protected]> Co-authored-by: Grace Lu <[email protected]> Co-authored-by: AnnZi <[email protected]> Co-authored-by: Jerrylum <[email protected]> Co-authored-by: Will Xu <[email protected]> Co-authored-by: noam987 <[email protected]> Co-authored-by: Yuechan Li <[email protected]> Co-authored-by: Sprocket Riggs <[email protected]> Co-authored-by: Cooper7196 <[email protected]> Co-authored-by: Gavin-Niederman <[email protected]> Co-authored-by: Yuechan Li <[email protected]> Co-authored-by: Gracelu128 <[email protected]> Co-authored-by: Richard Li <[email protected]> Co-authored-by: THERocky <[email protected]>
purduesigbots · May 19, 2024 · b31e125 · b31e125
1 parent 6e648a6
commit b31e125
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Showing 44 changed files with 3,108 additions and 1,736 deletions.
diff --git a/include/api.h b/include/api.h
@@ -40,10 +40,10 @@
 #endif /* __cplusplus */
 
 #define PROS_VERSION_MAJOR 4
-#define PROS_VERSION_MINOR 0
-#define PROS_VERSION_PATCH 6
-#define PROS_VERSION_STRING "4.0.6"
+#define PROS_VERSION_MINOR 1
 
+#define PROS_VERSION_PATCH 0
+#define PROS_VERSION_STRING "4.1.0"
 
 #include "pros/adi.h"
 #include "pros/colors.h"

diff --git a/include/main.h b/include/main.h
@@ -22,7 +22,7 @@
  *
  * For instance, E_CONTROLLER_MASTER has a shorter name: CONTROLLER_MASTER.
  * E_CONTROLLER_MASTER is pedantically correct within the PROS styleguide, but
- * not convienent for most student programmers.
+ * not convenient for most student programmers.
  */
 #define PROS_USE_SIMPLE_NAMES
 

diff --git a/include/pros/abstract_motor.hpp b/include/pros/abstract_motor.hpp
@@ -31,7 +31,7 @@ namespace pros {
 inline namespace v5 {
 
 /**
- * \enum motor_brake
+ * \enum MotorBrake
  * Indicates the current 'brake mode' of a motor.
  */
 enum class MotorBrake {
@@ -42,7 +42,7 @@ enum class MotorBrake {
 };
 
 /**
- * \enum Motor_Encoder_Units
+ * \enum MotorEncoderUnits
  * Indicates the units used by the motor encoders.
  */
 enum class MotorEncoderUnits {
@@ -53,7 +53,7 @@ enum class MotorEncoderUnits {
 	invalid = INT32_MAX ///< Invalid motor encoder units
 };
 
-// Alias for Motor_Encoder_Units
+// Alias for MotorEncoderUnits
 using MotorUnits = MotorEncoderUnits;
 
 enum class MotorGears {
@@ -70,7 +70,7 @@ enum class MotorGears {
 };
 
 
-// Provide Aliases for Motor_Gears
+// Provide Aliases for MotorGears
 using MotorGearset = MotorGears;
 using MotorCart = MotorGears;
 using MotorCartridge = MotorGears;
@@ -89,25 +89,6 @@ class AbstractMotor {
 	/// These functions allow programmers to make motors move
 	///@{
 
-	/**
-	 * Sets the voltage for the motor from -127 to 127.
-	 *
-	 * This is designed to map easily to the input from the controller's analog
-	 * stick for simple opcontrol use. The actual behavior of the motor is
-	 * analogous to use of pros::Motor::move().
-	 *
-	 * This function uses the following values of errno when an error state is
-	 * reached:
-	 * ENODEV - The port cannot be configured as a motor
-	 *
-	 * \param voltage
-	 *        The new motor voltage from -127 to 127
-	 *
-	 * \return 1 if the operation was successful or PROS_ERR if the operation
-	 * failed, setting errno.
-	 */
-	virtual std::int32_t operator=(std::int32_t voltage) const = 0;
-
 	/**
 	 * Sets the voltage for the motor from -127 to 127.
 	 *
@@ -778,7 +759,7 @@ class AbstractMotor {
      *           The index of the motor to get the target position of.
      *           By default index is 0, and will return an error for an out of bounds index
 	 *
-	 * \return One of Motor_Brake, according to what was set for the
+	 * \return One of MotorBrake, according to what was set for the
 	 * motor, or E_MOTOR_BRAKE_INVALID if the operation failed, setting errno.
 	 */
 	virtual MotorBrake get_brake_mode(const std::uint8_t index = 0) const = 0;
@@ -794,7 +775,7 @@ class AbstractMotor {
      *           The index of the motor to get the target position of.
      *           By default index is 0, and will return an error for an out of bounds index
 	 *
-	 * \return A vector containing Motor_Brake(s), according to what was set for the
+	 * \return A vector containing MotorBrake(s), according to what was set for the
 	 * motor(s), or E_MOTOR_BRAKE_INVALID if the operation failed, setting errno.
 	 */
 	virtual std::vector<MotorBrake> get_brake_mode_all(void) const = 0;
@@ -846,7 +827,7 @@ class AbstractMotor {
      *           The index of the motor to get the target position of.
      *           By default index is 0, and will return an error for an out of bounds index
 	 *
-	 * \return One of Motor_Units according to what is set for the
+	 * \return One of MotorUnits according to what is set for the
 	 * motor or E_MOTOR_ENCODER_INVALID if the operation failed.
 	 */
 	virtual MotorUnits get_encoder_units(const std::uint8_t index = 0) const = 0;
@@ -862,7 +843,7 @@ class AbstractMotor {
      *           The index of the motor to get the target position of.
      *           By default index is 0, and will return an error for an out of bounds index
 	 *
-	 * \return A vector of Motor_Units according to what is set for the
+	 * \return A vector of MotorUnits according to what is set for the
 	 * motor(s) or E_MOTOR_ENCODER_INVALID if the operation failed.
 	 */
 	virtual std::vector<MotorUnits> get_encoder_units_all(void) const = 0;
@@ -878,8 +859,8 @@ class AbstractMotor {
      *           The index of the motor to get the target position of.
      *           By default index is 0, and will return an error for an out of bounds index
 	 *
-	 * \return One of Motor_Gears according to what is set for the motor,
-	 * or pros::Motor_Gears::invalid if the operation failed.
+	 * \return One of MotorGears according to what is set for the motor,
+	 * or pros::MotorGears::invalid if the operation failed.
 	 */
 	virtual MotorGears get_gearing(const std::uint8_t index = 0) const = 0;
 
@@ -894,8 +875,8 @@ class AbstractMotor {
      *           The index of the motor to get the target position of.
      *           By default index is 0, and will return an error for an out of bounds index
 	 *
-	 * \return A vector of Motor_Gears according to what is set for the motor(s),
-	 * or pros::Motor_Gears::invalid if the operation failed.
+	 * \return A vector of MotorGears according to what is set for the motor(s),
+	 * or pros::MotorGears::invalid if the operation failed.
 	 */
 	virtual std::vector<MotorGears> get_gearing_all(void) const = 0;
 
@@ -977,15 +958,15 @@ class AbstractMotor {
 	virtual std::vector<std::int32_t> is_reversed_all(void) const = 0;
 
 	/**
-	 * Sets one of Motor_Brake to the motor. Works with the C enum
+	 * Sets one of MotorBrake to the motor. Works with the C enum
 	 * and the C++ enum class.
 	 *
 	 * This function uses the following values of errno when an error state is
 	 * reached:
 	 * ENODEV - The port cannot be configured as a motor
 	 *
 	 * \param mode
-	 *        The Motor_Brake to set for the motor
+	 *        The MotorBrake to set for the motor
 	 * 
      * \param index Optional parameter. 
      *           The index of the motor to get the target position of.
@@ -1018,7 +999,7 @@ class AbstractMotor {
 	virtual std::int32_t set_current_limit(const std::int32_t limit, const std::uint8_t index = 0) const = 0;
 	virtual std::int32_t set_current_limit_all(const std::int32_t limit) const = 0;
 	/**
-	 * Sets one of Motor_Units for the motor encoder. Works with the C
+	 * Sets one of MotorUnits for the motor encoder. Works with the C
 	 * enum and the C++ enum class.
 	 *
 	 * This function uses the following values of errno when an error state is

diff --git a/include/pros/adi.hpp b/include/pros/adi.hpp
@@ -190,6 +190,33 @@ class Port {
 	 */
 	std::int32_t set_value(std::int32_t value) const;
 
+	/**
+	 * Gets the port of the sensor.
+	 *
+	 * \return returns a tuple of integer ports.
+	 * 
+	 * \note The parts of the tuple are {smart port, adi port, second adi port (when applicable)}. 
+	 * 
+	 * 
+	 * \b Example
+	 * \code
+	 * #define DIGITAL_SENSOR_PORT 1 // 'A'
+	 * 
+	 * void initialize() {
+	 *   pros::adi::AnalogIn sensor (DIGITAL_SENSOR_PORT);
+	 *   
+	 * 	 // Getting values from the tuple using std::get<index> 
+	 * 	 int sensorSmartPort = std::get<0>(sensor.get_port()); // First value
+	 *   int sensorAdiPort = std::get<1>(sensor.get_port()); // Second value
+	 * 
+	 * 	 // Prints the first and second value from the port tuple (The Adi Port. The first value is the Smart Port)
+	 *   printf("Sensor Smart Port: %d\n", sensorSmartPort);
+	 *   printf("Sensor Adi Port: %d\n", sensorAdiPort);	
+	 * }
+	 * \endcode
+	 */
+	virtual ext_adi_port_tuple_t get_port() const;
+
 	protected:
 	std::uint8_t _smart_port;
 	std::uint8_t _adi_port;
@@ -396,6 +423,8 @@ class AnalogIn : protected Port {
 	 * value calibrated HR: (16 bit calibrated value), value: (12 bit value)]
 	 */
 	friend std::ostream& operator<<(std::ostream& os, pros::adi::AnalogIn& analog_in);
+
+	using Port::get_port;
 };
 
 ///@}
@@ -484,6 +513,8 @@ class AnalogOut : private Port {
 	 * \endcode
 	 */
 	using Port::set_value;
+
+	using Port::get_port;
 
 	/**
 	 * This is the overload for the << operator for printing to streams
@@ -595,6 +626,8 @@ class DigitalOut : private Port {
 	 */
 	using Port::set_value;
 
+	using Port::get_port;
+
 	/**
 	 * This is the overload for the << operator for printing to streams
 	 *
@@ -731,6 +764,8 @@ class DigitalIn : private Port {
 	 * value: (value)]
 	 */
 	friend std::ostream& operator<<(std::ostream& os, pros::adi::DigitalIn& digital_in);
+
+	using Port::get_port;
 };
 
 ///@}
@@ -875,6 +910,8 @@ class Motor : private Port {
 	 * \endcode
 	 */
 	using Port::get_value;
+
+	using Port::get_port;
 };
 
 ///@}
@@ -1004,6 +1041,11 @@ class Encoder : private Port {
 	 * value: (value)]
 	 */ 
 	friend std::ostream& operator<<(std::ostream& os, pros::adi::Encoder& encoder);
+	ext_adi_port_tuple_t get_port() const override;
+
+	private:
+	ext_adi_port_pair_t _port_pair;
+
 };
 
 ///@}
@@ -1108,6 +1150,8 @@ class Ultrasonic : private Port {
 	 * \endcode
 	 */
 	std::int32_t get_value() const;
+
+	using Port::get_port;
 };
 
 ///@}
@@ -1259,6 +1303,8 @@ class Gyro : private Port {
 	 * \endcode
 	 */
 	std::int32_t reset() const;
+
+	using Port::get_port;
 };
 
 ///@}
@@ -1419,6 +1465,9 @@ class Potentiometer : public AnalogIn {
 	 * Prints in format(this below is all in one line with no new line):
 	 */ 
 	friend std::ostream& operator<<(std::ostream& os, pros::adi::Potentiometer& potentiometer);
+
+	using Port::get_port;
+
 };
 
 ///@}
@@ -1710,6 +1759,8 @@ class Led : protected Port {
 	*/
 	std::int32_t length();
 
+	using Port::get_port;
+
 	protected:
 	std::vector<uint32_t> _buffer;
 };

diff --git a/include/pros/device.hpp b/include/pros/device.hpp
@@ -90,7 +90,7 @@ class Device {
  	 * }
  	 * \endcode
 	 */
-	std::uint8_t get_port(void);
+	std::uint8_t get_port(void) const;
 
 	/**
 	 * Checks if the device is installed.
@@ -138,6 +138,49 @@ class Device {
 	pros::DeviceType get_plugged_type() const;
 
 
+	/**
+	 * Gets the type of device on a given port.
+	 * 
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * EACCES - Mutex of port cannot be taken (access denied).
+	 * 
+	 * \param port The V5 port number from 1-21
+	 * 
+	 * \return The device type as an enum.
+	 *
+	 * \b Example
+ 	 * \code
+	 * #define DEVICE_PORT 1
+	 *
+	 * void opcontrol() {
+	 *   while (true) { 
+	 *     DeviceType dt = pros::Device::get_plugged_type(DEVICE_PORT);
+	 *     printf("device plugged type: {plugged type: %d}\n", dt);
+	 *     delay(20);
+	 *   }
+	 * }
+ 	 * \endcode
+	 */
+	static pros::DeviceType get_plugged_type(std::uint8_t port);
+
+	/**
+	 * Gets all devices of a given device type.
+	 * 
+	 * \param device_type The pros::DeviceType enum that matches the type of device desired.
+	 * 
+	 * \return A vector of Device objects for the given device type.
+	 *
+	 * \b Example
+ 	 * \code
+	 * void opcontrol() {
+	 *   std::vector<Device> motor_devices = pros::Device::get_all_devices(pros::DeviceType::motor);  // All Device objects are motors
+	 * }
+ 	 * \endcode
+	 */
+
+	static std::vector<Device> get_all_devices(pros::DeviceType device_type = pros::DeviceType::undefined);
+
 	protected:
 	/**
 	 * Creates a Device object.