vexide v0.5.0 Changelog

gavin-niederman's Avatar gavin-niederman • 11/28/2024

vexide 0.5.0 is our biggest update of all time. We focused on hopefully finalizing all of our device APIs in this update and on improving the quality of our documentation. We highly recommend reading our Thanksgiving blog post for more info.

Changelog

Added

  • You can now detect controller release occurrences with ButtonState::is_now_released.
  • Added support for 5.5W motors with a new constructor (Motor::new_exp) and four new getters (Motor::max_voltage, Motor::motor_type, Motor::is_v5, and Motor::is_exp) for Motor. (#167)
  • Added support for the V5 Workcell Electromagnet smart device. (#176)
  • The conditions upon which functions return errors are now documented. (#155).
  • Implemented the Copy trait for BannerTheme.
  • Added a getter that retrieves a Controller’s identifier. (#189)
  • Added support for controllers in DynamicPeripherals. (#196)
  • Added the ability to return Smart Ports, ADI ports, the display, and controllers to DynamicPeripherals. (#196)
  • Added a SmartDevice::UPDATE_INTERVAL constant for all devices, representing the amount of time between data updates from a given device. (#199) (Breaking Change)
  • Added a toggle method to AdiDigitalOut to toggle between level outputs (210).
  • Added the OpticalSensor::GESTURE_UPDATE_INTERVAL (50mS) constant (#211).
  • Added a toggle method to AdiDigitalOut to toggle between level outputs.
  • Added a SerialPort::set_baud_rate method for the adjusting baudrate of a generic serial smartport after initialization. (#217)
  • Added fields containing relevant failure information to several error types (#221) (Breaking Change)
  • Added support for the power button in the Controller API. (#231) (Breaking Change)
  • Added implementations of Mul<i64> and Div<i64> for Position, allowing for opaque scaling (#230)
  • Added panic hook support comparable to the Rust standard library through vexide::panic::set_hook and vexide::panic::take_hook (#234)
  • Added support for legacy ADI servos through the AdiServo API. (#241)
  • Added support for the V5 AI Vision Sensor (#58)
  • Added FOV constants to the Vision Sensor (#58)
  • Added missing Send and Sync impls for RwLock. (#239)
  • Added the Proportional font family and support for fractional font scaling. (#248) (Breaking Change)
  • Added AdiDigitalOut::with_initial_state to set the initial state of a digital output while creating it (#246)
  • Added Display::draw_text to write Text to a Display. (#247)
  • Added support for the legacy Yaw Rate Gyroscope through the AdiGyroscope struct. (#236)
  • Added support for reading/writing to the Brain’s SDCard slot using the vexide::core::fs module. (#22)

Fixed

  • AdiAddrLed::set_pixel will now correctly return an error if the device’s ADI expander is disconnected. (#155)
  • The dbg!(); now works as expected when no arguments are supplied to it. (#175)
  • Motor::velocity now correctly returns the estimated velocity instead of target velocity. (#184) (Breaking Change)
  • Removed useless generics from AdiAddrLed::new. (#197) (Breaking Change)
  • IMU calibration timeouts should no longer appear when the IMU is in working condition. (#212)
  • Fixed an issue preventing ADI updates in fast loops. (#210)
  • Motor::status can now actually return the MotorStatus::BUSY flag. (#211)
  • Fixed a memory leak on every RadioLink construction. (#220)
  • Fixed a panic in RadioLink::open that would occur if a program using a VEXlink radio was ran twice. (#243)
  • Fixed a bug with IMU reset offsets being applied incorrectly. (#242)

Changed

  • Controller state is now returned all at once to reduce error checking. (#152) (Breaking Change)
  • Controller bumper naming scheme has been changed from <left/right>_trigger_<1/2> to button_<r/l><1/2>. (#204) (Breaking Change)
  • Button::was_pressed has been renamed to ButtonState::is_now_pressed.
  • battery::capacity now returns from 0.0-1.0 rather than 0-100.
  • battery::voltage is now returned in volts rather than millivolts.
  • battery::current is now returned in amps rather than milliamps.
  • Changed the incorrect return types of AdiSolenoid::is_open and AdiSolenoid::is_closed from LogicLevel to bool. (#164) (Breaking Change)
  • Renamed Motor::MAX_VOLTAGE to Motor::V5_MAX_VOLTAGE and added Motor::EXP_MAX_VOLTAGE. (#167) (Breaking Change)
  • Moved the ability to convert Smart devices to SmartPorts out of the SmartDevice trait and into the devices themselves. (#171) (Breaking Change)
  • Renamed SmartDeviceType::Magnet to SmartDeviceType::Electromagnet. (#176) (Breaking Change)
  • Getters and constructors will now create warnings when their return values are not used. (#155)
  • Renamed OpticalSensor::rgb to OpticalSensor::color and OpticalSensor::raw to OpticalSensor::raw_color (#179) (Breaking Change).
  • Made the following functions infallible: AdiAccelerometer::sensitivity, AdiAccelerometer::max_acceleration, AdiPotentiometer::potentiometer_type, AdiPotentiometer::max_angle, Motor::target, and RotationSensor::direction. (#182) (Breaking Change)
  • OpticalSensor::led_brightness now returns a number from 0.0 - 1.0 rather than a number from 1 - 100. (#155) (Breaking Change)
  • Renamed Motor::update_profiled_velocity to Motor::set_profiled_velocity. (#155) (Breaking Change)
  • Mutex is now ?Sized, matching the behavior of the standard library. (#202) (Breaking Change)
  • Switched to the rgb for color storage. vexide::devices::color is now vexide::devices::rgb which re-exports the Rgb type. (#201) (Breaking Change)
  • Renamed AddrledError::Adi to AddrledError::Port. (#203) (Breaking Change)
  • Renamed GpsImu::set_data_rate to GpsImu::set_data_interval. (#199) (Breaking Change)
  • Renamed InertialSensor::set_data_rate to InertialSensor::set_data_interval. (#199) (Breaking Change)
  • Renamed Motor::DATA_WRITE_INTERVAL to Motor::WRITE_INTERVAL. (#199) (Breaking Change)
  • Renamed InertialSensor::accel to InertialSensor::acceleration (#213) (Breaking Change)
  • Renamed GpsImu::accel to GpsImu::acceleration (#211) (Breaking Change)
  • SerialPort::read_byte now takes &mut self. (#215) (Breaking Change)
  • OpticalSensor::last_gesture now returns an Option<Gesture> if no gesture was detected. (#215) (Breaking Change)
  • The time field on Gesture is now returned as an instance of SmartDeviceTimestamp. (#215) (Breaking Change)
  • Gesture and GestureDirection no longer implements Default. (#215) (Breaking Change)
  • Renamed vexide::devices::geometry to vexide::devices::math. (#218) (Breaking Change)
  • Replaced the custom Point2 type with mint’s Point2 type for better interop. (#218) (Breaking Change)
  • SmartPort::device_type now returns an Option<SmartDeviceType> which returns None if no device is connected or configured to a port. (#219) (Breaking Change)
  • Renamed the LinkError::NonTerminatingNul and ControllerError::NonTerminatingNul variants to simply Nul and added a source error. (#220) (Breaking Change)
  • Made ControllerScreen methods and Controller::rumble asynchronous and added synchronous try_<action> variants. (#222) (Breaking Change)
  • Renamed ControllerScreen::MAX_LINE_LENGTH to ControllerScreen::MAX_COLUMNS. (#222) (Breaking Change)
  • Refactored InertialCalibrateFuture to an opaque wrapper over the internal state machine. (#225) (Breaking Change)
  • GpsSensor::new is now infallible and no longer returns a Result. (#240) (Breaking Change)
  • RadioLink::new can now only fail on NulError and will not bail if a radio is disconnected. (#240) (Breaking Change)
  • RadioLink::unread_bytes can now return a LinkError::ReadError. (#243)
  • RadioLink::is_linked is now infallible. (#243) (Breaking Change)

Removed

  • Removed Motor::DATA_READ_INTERVAL. Use Motor::UPDATE_INTERVAL instead. (#199) (Breaking Change)
  • Removed InertialSensor::CALIBRATION_TIMEOUT and replaced it with the InertialSensor::CALIBRATION_START_TIMEOUT and InertialSensor::CALIBRATION_START_TIMEOUT constants. (#212) (Breaking Change)
  • AdiDigitalOut::level now reads the actual reported level value from VEXos, and thus now returns a Result. (#210) (Breaking Change)
  • Removed the defunct usd module from vexide::devices. (#198) (Breaking Change)
  • Removed AdiSolenoid. Use AdiDigitalOut instead. (#210) (Breaking Change)
  • Removed the deprecated ZERO_POSITION and ZERO_VELOCITY Motor status flags. (#211) (Breaking Change)
  • GestureDirection::None has been removed, as OpticalSensor::next_gesture now returns an Option<Gesture>. (#215) (Breaking Change)
  • GestureDirection no longer has a From conversion for u32. (#215) (Breaking Change)
  • Removed the nalgebra feature. All math types should natively support nalgebra conversions without any additional features. (#218) (Breaking Change)
  • Removed SmartDeviceType::None. SmartPort::device_type now returns an Option<SmartDeviceType> which serves the same purpose. (#219) (Breaking Change)
  • Removed Position-to-Position Mul/Div ops, as they were mathematically unsound. Prefer using Position-to-scalar operations for this. (#237) (Breaking Change)
  • Removed LinkError::Nul. (#240) (Breaking Change)
  • Removed LinkError::Port, because it was broken. VEXlink will no longer perform port validation. (#243) (Breaking Change)
  • Removed the TextSize enum. Use the associated constants on the new FontSize struct instead. (#248) (Breaking Change)

New Contributors

@zabackary made their first contribution in #164!