mclib

Made out of love for the Big Arch's finest.

A PROS 4 library for VEX V5 robots. It tracks the robot's position on the field, drives it to targets in autonomous, and provides ready-made classes for common mechanisms.

Documentation · Installation · Getting started · Safety

Install

Download mclib@<version>.zip from the releases page. In your PROS project:

pros c fetch mclib@0.2.0.zip
pros c apply mclib

#include "mclib/mclib.hpp"

See docs/installation.md for version pinning and upgrades.

Features

• Drivetrains. Tank (differential), X-drive and mecanum. PID loops for driving, turning and holding heading, with acceleration limits and a minimum voltage to overcome friction.
• Odometry. Tracks the robot's x, y and heading in the background using drive encoders or tracking wheels.
• Motion. Drive to a point, turn to an angle, follow curved paths (pure pursuit), and plan smooth speed changes (motion profiles).
• Commands. A command-based framework like FRC's: subsystems, default commands, sequences, parallel groups and controller button triggers.
• Mechanisms. Lifts and arms, flywheels, pneumatics, conveyors with jam recovery, homing against a hard stop, PTOs and sensor auto-triggers.
• Devices. Wrappers for PROS motors and sensors. Readings come back empty when a device is unplugged, instead of as an error code.
• Telemetry. Log values to a CSV file on the SD card or to the PROS terminal.
• Autonomous. Chain motions and mechanism actions into a routine, and pick a routine on the brain screen.
• Units. Values carry units (24_in, 90_deg, 2_s), and mixing incompatible units is a compile error.

Example

#include "main.h"
#include "mclib/mclib.hpp"

using namespace mclib::units::literals;

mclib::device::Controller master;
auto imu = std::make_shared<mclib::device::Inertial>(15);

mclib::Chassis chassis(
    {-11, 13, 14},                       // left motors, negative = reversed
    {-16, 17, -18},                      // right motors
    mclib::device::Gearset::Blue,
    mclib::ChassisDimensions{mclib::units::Wheel::fromDiameter(2.75_in),
                             11.375_in,  // track width
                             1.0},       // wheel revs per motor rev
    imu);

mclib::ChassisController drive(chassis, mclib::ChassisControllerConfig{
    .distance_pid = {0.4, 0.0, 3.0},   // volts per inch
    .turn_pid = {0.3, 0.0, 1.5},       // volts per degree
    .heading_pid = {0.3, 0.0, 1.5},    // volts per degree, while driving
});

void initialize() {
  imu->reset(true);
  mclib::control::startOdometry();

  static auto default_drive = drive.makeArcadeDriveCommand(master);
  CommandScheduler::registerSubsystem(&drive, default_drive.get());
}

void autonomous() {
  moveToPoint(0_in, 24_in, 1, 2_s);
  turnToAngle(90_deg, 1_s);
}

void opcontrol() {
  while (true) {
    CommandScheduler::run();
    pros::delay(10);
  }
}

Building

Requires the PROS CLI and the Arm GNU toolchain (arm-none-eabi-g++).

make              # build the PROS project
make library      # build bin/mclib.a
make template     # package mclib@<version>.zip
make test         # build and run the host test suite

make test needs only a host g++.

Requirements

• PROS kernel 4.2.2 or newer
• gnu++20
• Eigen, bundled in include/Eigen. Use fixed-size types only.

Contributing

See CONTRIBUTING.md.

License

MPL-2.0.