SysVRC

Competition code for our VRC robot. Runs on PROS with EZ-Template + LemLib for chassis control and odometry. Everything you need to build and flash is in this repo.

Layout

SysVRC/
  bin/                   # build output from PROS
  firmware/              # firmware / project metadata
  src/
    autons.cpp           # match autonomous routines
    main.cpp             # init, auton, opcontrol
    selection.cpp        # auton selector + LCD
    skills.cpp           # skills run logic
    subsystemFiles/      # intake, lift, clamp, sensors, drivebase, etc.
    sim/
      control_loop.cpp   # sim control loop
      visbot_play.yml    # hil sim playbook for deployment
  static/                # static assets

  EZ-Template.a          # prebuilt EZ-Template
  EZ-Template@3.2.2.zip  # original archive
  LemLib.a               # prebuilt LemLib
  Makefile
  common.mk

What lives where

src/main.cpp

Startup and high level control:

• sets brake modes, IMU, odom, and chassis constants
• spins up background tasks (logger, temp checks, LB loop, color loop)
• wires up the auton selector
• defines autonomous() and opcontrol() entry points

This is the first place to look if something is weird on boot.

src/autons.cpp

All the actual match autos.

Common pattern:

• reset sensors and odom
• set starting pose
• call drive helpers / mechanism helpers in order
• many functions take bool isBlue so the same code works on both sides

There are a bunch of routines here (rush, safe, disrupt, skills-style autos). Comment out / swap the call in autonomous() to change what runs.

src/skills.cpp

A cleaner, isolated version of the skills run:

• uses the same chassis + odom config
• has its own scoring route and motion sequence
• easy to test without touching match autos

If you only care about skills, this file is the one to read.

src/subsystemFiles/

Subsystem logic is broken out to keep autos readable:

• intake control and “unstuck” logic
• ladybrown state machine (REST / PROPPED / EXTENDED / etc.)
• mogo clamp and side doinkers
• drive helpers (set_drive, brake helpers, etc.)
• sensor utilities (optical color filter, alignment sensors, temp checks)

Rule of thumb: if it talks to one piece of hardware, it probably lives here.

static/, bin/, firmware/

Mostly PROS stuff. You should not need to touch these unless you are doing something weird with the project itself.

Building and uploading

You need the PROS CLI installed.

Build:

pros make

Upload to the brain:

pros upload

If the build is acting up:

pros make clean
pros upload

Tuning notes

• Chassis PID and slew settings are configured in default_constants() in autons.cpp.
• IMU and odom starting pose are set in autonomous() and some auton functions.
• If you move the IMU or tracking wheels, fix the offsets there first before touching the gains.

Adding new code

Guidelines that keep this project sane:

• Put new mechanism logic in subsystemFiles/, not inside autos.
• Keep autos as sequences of “do X, wait, do Y” so they can be read top to bottom.
• Avoid random pros::delay() if a sensor check would work instead.
• Always reset odom and sensors at the start of a new auton so tests are repeatable.

Quick troubleshooting

• Robot spins or drives in a curve on straight moves

  • check IMU calibration and tracking wheel directions

• Auton selector does nothing

  • look at selection.cpp and the call site in initialize()

• Motors brown out or quit mid match

  • watch the temp output from the temp task and maybe back off current / speed

That is basically it. If you are reading this because you are about to change autos, start with autons.cpp and work down from there.