make some encoder methods const

LemLib · Jan 18, 2025 · 7ba7c85 · 7ba7c85
1 parent 50f8ad7
commit 7ba7c85
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Showing 9 changed files with 75 additions and 73 deletions.
diff --git a/include/hardware/Encoder/ADIEncoder.hpp b/include/hardware/Encoder/ADIEncoder.hpp
@@ -82,7 +82,7 @@ class ADIEncoder : public Encoder {
          * @return INT_MAX if there is an error, setting errno
          */
         [[deprecated("This function is not implemented due to hardware limitations")]]
-        int isConnected() override;
+        int32_t isConnected() const override;
         /**
          * @brief Get the relative angle measured by the encoder
          *
@@ -109,7 +109,7 @@ class ADIEncoder : public Encoder {
          * }
          * @endcode
          */
-        Angle getAngle() override;
+        Angle getAngle() const override;
         /**
          * @brief Set the relative angle of the encoder
          *
@@ -138,7 +138,7 @@ class ADIEncoder : public Encoder {
          * }
          * @endcode
          */
-        int setAngle(Angle angle) override;
+        int32_t setAngle(Angle angle) override;
     private:
         mutable pros::Mutex m_mutex;
         pros::adi::Encoder m_encoder;

diff --git a/include/hardware/Encoder/Encoder.hpp b/include/hardware/Encoder/Encoder.hpp
@@ -33,7 +33,7 @@ class Encoder {
          * }
          * @endcode
          */
-        virtual int isConnected() = 0;
+        virtual int32_t isConnected() const = 0;
         /**
          * @brief Get the relative angle measured by the encoder
          *
@@ -56,7 +56,7 @@ class Encoder {
          * }
          * @endcode
          */
-        virtual Angle getAngle() = 0;
+        virtual Angle getAngle() const = 0;
         /**
          * @brief Set the relative angle of the encoder
          *
@@ -80,7 +80,7 @@ class Encoder {
          * }
          * @endcode
          */
-        virtual int setAngle(Angle angle) = 0;
+        virtual int32_t setAngle(Angle angle) = 0;
         virtual ~Encoder() = default;
 };
 } // namespace lemlib
diff --git a/include/hardware/Encoder/V5RotationSensor.hpp b/include/hardware/Encoder/V5RotationSensor.hpp
@@ -68,7 +68,7 @@ class V5RotationSensor : public Encoder {
          * }
          * @endcode
          */
-        int isConnected() override;
+        int32_t isConnected() const override;
         /**
          * @brief Get the relative angle measured by the V5 Rotation Sensor
          *
@@ -96,7 +96,7 @@ class V5RotationSensor : public Encoder {
          * }
          * @endcode
          */
-        Angle getAngle() override;
+        Angle getAngle() const override;
         /**
          * @brief Set the relative angle of the V5 Rotation Sensor
          *
@@ -125,7 +125,7 @@ class V5RotationSensor : public Encoder {
          * }
          * @endcode
          */
-        int setAngle(Angle angle) override;
+        int32_t setAngle(Angle angle) override;
         /**
          * @brief returns whether the V5 Rotation Sensor is reversed or not
          *
@@ -145,7 +145,7 @@ class V5RotationSensor : public Encoder {
          * }
          * @endcode
          */
-        int isReversed() const;
+        int32_t isReversed() const;
         /**
          * @brief Set whether the V5 Rotation Sensor is reversed or not
          *
@@ -166,7 +166,7 @@ class V5RotationSensor : public Encoder {
          * }
          * @endcode
          */
-        int setReversed(bool reversed);
+        int32_t setReversed(bool reversed);
     private:
         mutable pros::Mutex m_mutex;
         Angle m_offset = 0_stRot;

diff --git a/include/hardware/Motor/Motor.hpp b/include/hardware/Motor/Motor.hpp
@@ -78,7 +78,7 @@ class Motor : public Encoder {
          * }
          * @endcode
          */
-        int move(Number percent);
+        int32_t move(Number percent);
         /**
          * @brief move the motor at a given angular velocity
          *
@@ -103,7 +103,7 @@ class Motor : public Encoder {
          * }
          * @endcode
          */
-        int moveVelocity(AngularVelocity velocity);
+        int32_t moveVelocity(AngularVelocity velocity);
         /**
          * @brief brake the motor
          *
@@ -127,7 +127,7 @@ class Motor : public Encoder {
          * }
          * @endcode
          */
-        int brake();
+        int32_t brake();
         /**
          * @brief set the brake mode of the motor
          *
@@ -153,7 +153,7 @@ class Motor : public Encoder {
          * }
          * @endcode
          */
-        int setBrakeMode(BrakeMode mode);
+        int32_t setBrakeMode(BrakeMode mode);
         /**
          * @brief get the brake mode of the motor
          *
@@ -203,7 +203,7 @@ class Motor : public Encoder {
          * }
          * @endcode
          */
-        int isConnected() override;
+        int32_t isConnected() const override;
         /**
          * @brief Get the relative angle measured by the motor
          *
@@ -230,7 +230,7 @@ class Motor : public Encoder {
          * }
          * @endcode
          */
-        Angle getAngle() override;
+        Angle getAngle() const override;
         /**
          * @brief Set the relative angle of the motor
          *
@@ -261,7 +261,7 @@ class Motor : public Encoder {
          * }
          * @endcode
          */
-        int setAngle(Angle angle) override;
+        int32_t setAngle(Angle angle) override;
         /**
          * @brief Get the offset of the motor encoder
          *
@@ -312,7 +312,7 @@ class Motor : public Encoder {
          * }
          * @endcode
          */
-        int setOffset(Angle offset);
+        int32_t setOffset(Angle offset);
         /**
          * @brief Get the type of the motor
          *
@@ -343,7 +343,7 @@ class Motor : public Encoder {
          * }
          * @endcode
          */
-        MotorType getType();
+        MotorType getType() const;
         /**
          * @brief get whether the motor is reversed
          *
@@ -364,7 +364,7 @@ class Motor : public Encoder {
          * }
          * @endcode
          */
-        int isReversed() const;
+        int32_t isReversed() const;
         /**
          * @brief set whether the motor should be reversed or not
          *
@@ -380,7 +380,7 @@ class Motor : public Encoder {
          * }
          * @endcode
          */
-        int setReversed(bool reversed);
+        int32_t setReversed(bool reversed);
         /**
          * @brief Get the port the motor is connected to
          *
@@ -445,7 +445,7 @@ class Motor : public Encoder {
          * }
          * @endcode
          */
-        int setCurrentLimit(Current limit);
+        int32_t setCurrentLimit(Current limit);
         /**
          * @brief Get the temperature of the motor
          *
@@ -488,7 +488,7 @@ class Motor : public Encoder {
          * }
          * @endcode
          */
-        int setOutputVelocity(AngularVelocity outputVelocity);
+        int32_t setOutputVelocity(AngularVelocity outputVelocity);
         /**
          * @brief Get the output velocity of the motor
          *
@@ -503,7 +503,7 @@ class Motor : public Encoder {
          * }
          * @endcode
          */
-        AngularVelocity getOutputVelocity();
+        AngularVelocity getOutputVelocity() const;
     private:
         mutable pros::Mutex m_mutex;
         AngularVelocity m_outputVelocity;

diff --git a/include/hardware/Motor/MotorGroup.hpp b/include/hardware/Motor/MotorGroup.hpp
@@ -91,7 +91,7 @@ class MotorGroup : public Encoder {
          * }
          * @endcode
          */
-        int move(Number percent);
+        int32_t move(Number percent);
         /**
          * @brief move the motors at a given angular velocity
          *
@@ -117,7 +117,7 @@ class MotorGroup : public Encoder {
          * }
          * @endcode
          */
-        int moveVelocity(AngularVelocity velocity);
+        int32_t moveVelocity(AngularVelocity velocity);
         /**
          * @brief brake the motors
          *
@@ -142,7 +142,7 @@ class MotorGroup : public Encoder {
          * }
          * @endcode
          */
-        int brake();
+        int32_t brake();
         /**
          * @brief set the brake mode of the motors
          *
@@ -163,7 +163,7 @@ class MotorGroup : public Encoder {
          * }
          * @endcode
          */
-        int setBrakeMode(BrakeMode mode);
+        int32_t setBrakeMode(BrakeMode mode);
         /**
          * @brief get the brake mode of the motor group
          *
@@ -210,7 +210,7 @@ class MotorGroup : public Encoder {
          * }
          * @endcode
          */
-        int isConnected() override;
+        int32_t isConnected() const override;
         /**
          * @brief Get the average relative angle measured by the motors
          *
@@ -238,7 +238,7 @@ class MotorGroup : public Encoder {
          * }
          * @endcode
          */
-        Angle getAngle() override;
+        Angle getAngle() const override;
         /**
          * @brief Set the relative angle of all the motors
          *
@@ -267,7 +267,7 @@ class MotorGroup : public Encoder {
          * }
          * @endcode
          */
-        int setAngle(Angle angle) override;
+        int32_t setAngle(Angle angle) override;
         /**
          * @brief Get the combined current limit of all motors in the group
          *
@@ -318,7 +318,7 @@ class MotorGroup : public Encoder {
          * }
          * @endcode
          */
-        int setCurrentLimit(Current limit);
+        int32_t setCurrentLimit(Current limit);
         /**
          * @brief Get the temperatures of the motors in the motor group
          *
@@ -363,7 +363,7 @@ class MotorGroup : public Encoder {
          * }
          * @endcode
          */
-        int setOutputVelocity(AngularVelocity outputVelocity);
+        int32_t setOutputVelocity(AngularVelocity outputVelocity);
         /**
          * @brief Get the output velocity of the motor group
          *
@@ -392,7 +392,7 @@ class MotorGroup : public Encoder {
          * }
          * @endcode
          */
-        int getSize() const;
+        int32_t getSize() const;
         /**
          * @brief Add a motor to the motor group
          *
@@ -421,7 +421,7 @@ class MotorGroup : public Encoder {
          * }
          * @endcode
          */
-        int addMotor(ReversibleSmartPort port);
+        int32_t addMotor(ReversibleSmartPort port);
         /**
          * @brief Add a motor to the motor group
          *
@@ -446,7 +446,7 @@ class MotorGroup : public Encoder {
          * }
          * @endcode
          */
-        int addMotor(Motor motor);
+        int32_t addMotor(Motor motor);
         /**
          * @brief Add a motor to the motor group
          *
@@ -472,7 +472,7 @@ class MotorGroup : public Encoder {
          * }
          * @endcode
          */
-        int addMotor(Motor motor, bool reversed);
+        int32_t addMotor(Motor motor, bool reversed);
         /**
          * @brief Remove a motor from the motor group
          *

diff --git a/src/hardware/Encoder/ADIEncoder.cpp b/src/hardware/Encoder/ADIEncoder.cpp
@@ -18,7 +18,7 @@ ADIEncoder::ADIEncoder(const ADIEncoder& other)
     : m_encoder(other.m_encoder),
       m_offset(other.m_offset) {}
 
-int ADIEncoder::isConnected() {
+int32_t ADIEncoder::isConnected() const {
     // it's not possible to check if the ADIEncoder is connected, so we just return 1 to indicate that it is
     // we do run a simple test however to check if the ports are valid
     if (m_encoder.get_value() == INT_MAX) {
@@ -29,7 +29,7 @@ int ADIEncoder::isConnected() {
     return 1;
 }
 
-Angle ADIEncoder::getAngle() {
+Angle ADIEncoder::getAngle() const {
     std::unique_lock lock(m_mutex);
     const int raw = m_encoder.get_value();
     // check for errors
@@ -41,7 +41,7 @@ Angle ADIEncoder::getAngle() {
     return from_stDeg(raw) + m_offset;
 }
 
-int ADIEncoder::setAngle(Angle angle) {
+int32_t ADIEncoder::setAngle(Angle angle) {
     std::unique_lock lock(m_mutex);
     // the Vex SDK does not support setting the relative angle of an ADI encoder to a specific value
     // but we can overcome this limitation by resetting the relative angle to zero and saving an offset