From 9b342b386c9d3fc792a1d6ff31bd1d71d3daa8ba Mon Sep 17 00:00:00 2001
From: toxicdefender404 <vincent.hills@gmail.com>
Date: Sun, 13 Apr 2025 20:40:43 +0100
Subject: [PATCH 1/2] add getPort

---
 include/hardware/IMU/V5InertialSensor.hpp | 16 ++++++++++++++++
 src/hardware/IMU/V5InertialSensor.cpp     |  7 +++++++
 2 files changed, 23 insertions(+)

diff --git a/include/hardware/IMU/V5InertialSensor.hpp b/include/hardware/IMU/V5InertialSensor.hpp
index f202ad3..53c7d0e 100644
--- a/include/hardware/IMU/V5InertialSensor.hpp
+++ b/include/hardware/IMU/V5InertialSensor.hpp
@@ -46,6 +46,22 @@ class V5InertialSensor : public IMU {
          * @endcode
          */
         static V5InertialSensor from_pros_imu(pros::Imu imu, Number scalar = 1.0);
+        /**
+        * @brief Get the port the inertial sensor is connected to
+        *
+        * This function returns the port number of the inertial sensor.
+        *
+        * @return SmartPort the port the inertial sensor is connected to
+        *
+        * @b Example:
+        * @code {.cpp}
+        * void initialize() {
+        *     lemlib::V5InertialSensor imu(1);
+        *     std::cout << "Inertial sensor is connected to port " << imu.getPort() << std::endl;
+        * }
+        * @endcode
+        */
+        SmartPort getPort() const;
         /**
          * @brief calibrate the V5 Inertial Sensor
          *
diff --git a/src/hardware/IMU/V5InertialSensor.cpp b/src/hardware/IMU/V5InertialSensor.cpp
index 992a4b2..abcb4b2 100644
--- a/src/hardware/IMU/V5InertialSensor.cpp
+++ b/src/hardware/IMU/V5InertialSensor.cpp
@@ -1,6 +1,7 @@
 #include "hardware/IMU/V5InertialSensor.hpp"
 #include "hardware/Port.hpp"
 #include "pros/imu.hpp"
+#include <cstdint>
 #include <mutex>
 
 namespace lemlib {
@@ -17,6 +18,12 @@ V5InertialSensor V5InertialSensor::from_pros_imu(pros::IMU imu, Number scalar) {
     return V5InertialSensor({imu.get_port(), runtime_check_port}, scalar);
 }
 
+SmartPort V5InertialSensor::getPort() const {
+    std::lock_guard lock(m_mutex);
+    SmartPort port(m_imu.get_port(),DynamicPort{});
+    return port;
+}
+
 int32_t V5InertialSensor::calibrate() {
     std::lock_guard lock(m_mutex);
     m_offset = 0_stRot;

From c6a4e780400d3c4efd307269c3c93bbc0bb70e30 Mon Sep 17 00:00:00 2001
From: toxicdefender404 <vincent.hills@gmail.com>
Date: Sun, 13 Apr 2025 20:46:21 +0100
Subject: [PATCH 2/2] fix formatting

---
 include/hardware/IMU/V5InertialSensor.hpp | 28 +++++++++++------------
 src/hardware/IMU/V5InertialSensor.cpp     |  2 +-
 2 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/include/hardware/IMU/V5InertialSensor.hpp b/include/hardware/IMU/V5InertialSensor.hpp
index 53c7d0e..67c12a9 100644
--- a/include/hardware/IMU/V5InertialSensor.hpp
+++ b/include/hardware/IMU/V5InertialSensor.hpp
@@ -47,20 +47,20 @@ class V5InertialSensor : public IMU {
          */
         static V5InertialSensor from_pros_imu(pros::Imu imu, Number scalar = 1.0);
         /**
-        * @brief Get the port the inertial sensor is connected to
-        *
-        * This function returns the port number of the inertial sensor.
-        *
-        * @return SmartPort the port the inertial sensor is connected to
-        *
-        * @b Example:
-        * @code {.cpp}
-        * void initialize() {
-        *     lemlib::V5InertialSensor imu(1);
-        *     std::cout << "Inertial sensor is connected to port " << imu.getPort() << std::endl;
-        * }
-        * @endcode
-        */
+         * @brief Get the port the inertial sensor is connected to
+         *
+         * This function returns the port number of the inertial sensor.
+         *
+         * @return SmartPort the port the inertial sensor is connected to
+         *
+         * @b Example:
+         * @code {.cpp}
+         * void initialize() {
+         *     lemlib::V5InertialSensor imu(1);
+         *     std::cout << "Inertial sensor is connected to port " << imu.getPort() << std::endl;
+         * }
+         * @endcode
+         */
         SmartPort getPort() const;
         /**
          * @brief calibrate the V5 Inertial Sensor
diff --git a/src/hardware/IMU/V5InertialSensor.cpp b/src/hardware/IMU/V5InertialSensor.cpp
index abcb4b2..41e410a 100644
--- a/src/hardware/IMU/V5InertialSensor.cpp
+++ b/src/hardware/IMU/V5InertialSensor.cpp
@@ -20,7 +20,7 @@ V5InertialSensor V5InertialSensor::from_pros_imu(pros::IMU imu, Number scalar) {
 
 SmartPort V5InertialSensor::getPort() const {
     std::lock_guard lock(m_mutex);
-    SmartPort port(m_imu.get_port(),DynamicPort{});
+    SmartPort port(m_imu.get_port(), DynamicPort {});
     return port;
 }