docs: document Motor::temperature

vexide · Mar 27, 2024 · 817158a · 817158a
1 parent 3572720
commit 817158a
Show file tree

Hide file tree

Showing 2 changed files with 22 additions and 9 deletions.
diff --git a/packages/vex-devices/src/smart/imu.rs b/packages/vex-devices/src/smart/imu.rs
@@ -362,7 +362,7 @@ impl core::future::Future for InertialCalibrateFuture {
                     cx.waker().wake_by_ref();
                     Poll::Pending
                 }
-            },
+            }
             Self::Waiting(port, timestamp, phase) => {
                 if timestamp.elapsed() > InertialSensor::CALIBRATION_TIMEOUT {
                     // Calibration took too long and exceeded timeout.
@@ -379,19 +379,22 @@ impl core::future::Future for InertialCalibrateFuture {
                     },
                 );
 
-                if status.contains(InertialStatus::CALIBRATING) && phase == CalibrationPhase::Start {
+                if status.contains(InertialStatus::CALIBRATING) && phase == CalibrationPhase::Start
+                {
                     // Calibration has started, so we'll change to waiting for it to end.
                     *self = Self::Waiting(port, timestamp, CalibrationPhase::End);
                     cx.waker().wake_by_ref();
                     return Poll::Pending;
-                } else if !status.contains(InertialStatus::CALIBRATING) && phase == CalibrationPhase::End {
+                } else if !status.contains(InertialStatus::CALIBRATING)
+                    && phase == CalibrationPhase::End
+                {
                     // Calibration has finished.
                     return Poll::Ready(Ok(()));
                 }
 
                 cx.waker().wake_by_ref();
                 Poll::Pending
-            },
+            }
         }
     }
 }

diff --git a/packages/vex-devices/src/smart/motor.rs b/packages/vex-devices/src/smart/motor.rs
@@ -6,13 +6,19 @@ use bitflags::bitflags;
 use pros_core::error::PortError;
 use snafu::Snafu;
 use vex_sdk::{
-    vexDeviceMotorAbsoluteTargetSet, vexDeviceMotorBrakeModeSet, vexDeviceMotorCurrentGet, vexDeviceMotorCurrentLimitGet, vexDeviceMotorCurrentLimitSet, vexDeviceMotorEfficiencyGet, vexDeviceMotorEncoderUnitsSet, vexDeviceMotorFaultsGet, vexDeviceMotorFlagsGet, vexDeviceMotorGearingGet, vexDeviceMotorGearingSet, vexDeviceMotorPositionGet, vexDeviceMotorPositionRawGet, vexDeviceMotorPositionReset, vexDeviceMotorPositionSet, vexDeviceMotorPowerGet, vexDeviceMotorReverseFlagGet, vexDeviceMotorReverseFlagSet, vexDeviceMotorTemperatureGet, vexDeviceMotorTorqueGet, vexDeviceMotorVelocityGet, vexDeviceMotorVelocitySet, vexDeviceMotorVelocityUpdate, vexDeviceMotorVoltageGet, vexDeviceMotorVoltageLimitGet, vexDeviceMotorVoltageLimitSet, vexDeviceMotorVoltageSet, V5MotorBrakeMode, V5MotorGearset
+    vexDeviceMotorAbsoluteTargetSet, vexDeviceMotorBrakeModeSet, vexDeviceMotorCurrentGet,
+    vexDeviceMotorCurrentLimitGet, vexDeviceMotorCurrentLimitSet, vexDeviceMotorEfficiencyGet,
+    vexDeviceMotorEncoderUnitsSet, vexDeviceMotorFaultsGet, vexDeviceMotorFlagsGet,
+    vexDeviceMotorGearingGet, vexDeviceMotorGearingSet, vexDeviceMotorPositionGet,
+    vexDeviceMotorPositionRawGet, vexDeviceMotorPositionReset, vexDeviceMotorPositionSet,
+    vexDeviceMotorPowerGet, vexDeviceMotorReverseFlagGet, vexDeviceMotorReverseFlagSet,
+    vexDeviceMotorTemperatureGet, vexDeviceMotorTorqueGet, vexDeviceMotorVelocityGet,
+    vexDeviceMotorVelocitySet, vexDeviceMotorVelocityUpdate, vexDeviceMotorVoltageGet,
+    vexDeviceMotorVoltageLimitGet, vexDeviceMotorVoltageLimitSet, vexDeviceMotorVoltageSet,
+    V5MotorBrakeMode, V5MotorGearset,
 };
-
 #[cfg(feature = "dangerous_motor_tuning")]
-use vex_sdk::{
-    vexDeviceMotorPositionPidSet, vexDeviceMotorVelocityPidSet, V5_DeviceMotorPid
-};
+use vex_sdk::{vexDeviceMotorPositionPidSet, vexDeviceMotorVelocityPidSet, V5_DeviceMotorPid};
 
 use super::{SmartDevice, SmartDeviceInternal, SmartDeviceTimestamp, SmartDeviceType, SmartPort};
 use crate::Position;
@@ -112,6 +118,7 @@ impl Motor {
         match target {
             MotorControl::Brake(mode) => unsafe {
                 vexDeviceMotorBrakeModeSet(self.device_handle(), mode.into());
+                // Force motor into braking by putting it into velocity control with a 0rpm setpoint.
                 vexDeviceMotorVelocitySet(self.device_handle(), 0);
             },
             MotorControl::Velocity(rpm) => unsafe {
@@ -323,6 +330,7 @@ impl Motor {
         Ok(unsafe { vexDeviceMotorVoltageLimitGet(self.device_handle()) } as f64 / 1000.0)
     }
 
+    /// Returns the internal teperature recorded by the motor in increments of 5°C.
     pub fn temperature(&self) -> Result<f64, MotorError> {
         self.validate_port()?;
         Ok(unsafe { vexDeviceMotorTemperatureGet(self.device_handle()) })
@@ -334,6 +342,8 @@ impl Motor {
 
         let bits = unsafe { vexDeviceMotorFlagsGet(self.device_handle()) };
 
+        // This is technically just a flag, but it indicates that an error occurred when trying
+        // to get the flags, so we return early here.
         if (bits & pros_sys::E_MOTOR_FLAGS_BUSY) != 0 {
             return Err(MotorError::Busy);
         }