Competition code for our VEX V5 robot (team 750C) for the VRC High Stakes season. Built on PROS with LemLib for odometry and motion control, it covers both the autonomous routines and the driver-control layout.
- Odometry-based movement — IMU-tracked pose with LemLib lateral and angular PID controllers for accurate autonomous navigation.
- Six-motor drivetrain — two motor groups on blue (600 RPM) gearsets, 2.75" omni wheels.
- Subsystem control — ring intake motor, pneumatic mobile-goal clamp, and a lady-brown scoring arm.
- Autonomous routines — defined in
auton.cpp/autonControl.cpp. - Driver control — mapped in
driverControl.cpp. - Live telemetry — pose (X, Y, θ) streamed to the V5 brain screen.
- Language: C++
- Framework: PROS (VEX V5 kernel ^4.1.0)
- Library: LemLib 0.5.4
- Build: PROS CLI / Make
| File | Purpose |
|---|---|
src/globals.cpp / globals.hpp |
Motor, sensor, and chassis definitions |
src/main.cpp |
Entry points (init, autonomous, opcontrol) |
src/auton.cpp / auton.hpp |
Autonomous routines |
src/autonControl.cpp / autonControl.hpp |
Autonomous selection / control |
src/driverControl.cpp / driverControl.hpp |
Driver-control bindings |
Requires the PROS CLI and the LemLib template.
pros make # build
pros upload # upload to a connected V5 brain
pros mu # build, upload, and open the terminalcoming soon