RW-Template

📦 Project Description

Welcome to RW-Template! This project is an advanced VEX V5 autonomous robotics template focused on precise, algorithm-driven motion planning and control. It is designed for teams who want robust, adaptable autonomous routines with support for a wide range of sensor and drive configurations.

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🚀 Features

✅ Universal PID Class

• Modular, reusable PID controller for all motion and heading tasks.

📍 Odometry

• Tracks robot position using drivetrain encoders and/or tracking wheels for accurate field navigation.

🧭 IMU Support

• Integrates inertial sensor (IMU) for heading correction and absolute orientation.

🔁 Tracking Wheel Flexibility

• Works with or without tracking wheels.
• Supports all tracking wheel configurations.
• Fall-back support using only drivetrain encoders and IMU for basic pose estimation.

🎯 Turn to Face Point/Heading

• Algorithms to turn the robot to face any field point or specific heading.

🔄 Swing to Face Heading

• Swing turn routines for efficient, single-side turning to a point or heading.

🏹 Move to Point

• Navigate to a specific coordinate using position and heading correction.
• Works consistently with or without tracking wheels.

📐 Curve Path Movement (curveCircle)

• Executes smooth, circular/curved paths to a target point.
• Fully compatible with robots not using tracking wheels or full odometry.
• Uses heading + distance PID control to maintain curvature.

🏹 Move to Pose via Boomerang

• Advanced “boomerang” algorithm for smooth, curved motion to a target pose (position + heading).

⛓️ Motion Chaining

• Seamlessly links multiple motion commands for fluid, uninterrupted autonomous routines.

💡 Easy Updates

• custom/ folder isolates personal changes from core logic
• future updates to core code are seamless
• copy/paste portability across projects or seasons

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🛠️ Installation/Update Guide

Follow these steps to set up the project on your local machine:

1. Download and install Visual Studio Code (VS Code)

   • https://code.visualstudio.com/

2. Install the VEX Robotics Extension in VS Code

   • Open the Extensions view (Ctrl/Cmd+Shift+X)
   • Search for and install "VEX Robotics Extension" by VEX Robotics

3. Set up the project folder

   • Download the latest version's ZIP file titled RW-Template.zip (not the source code files) from the Releases section below
   • Unzip the downloaded file
   • Open the resulting folder with Visual Studio Code
   • If you are an existing user, copy and paste the custom folder of the old version into the new project for updating to newer versions

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📘 Usage Guide

Note: Anything modified outside of the custom folder will not be preserved in updates.

1. Project Structure

Your project is organized into the following folders and files:

custom/include/

• autonomous.h — Declarations for autonomous routines
• robot-config.h — Declarations for robot devices
• user.h — Declarations for user functions

custom/src/

• autonomous.cpp — Your autonomous routines
• robot-config.cpp — Your robot's device configurations
• user.cpp — User functions

include/

• motor-control.h — Core drive and motion control function declarations
• pid.h — Reusable PID controller class declaration
• utils.h — Math and geometry utility functions
• vex.h — Standard VEX libraries and device setup

src/

• main.cpp — Competition entry point and control flow
• motor-control.cpp — Core drive and motion control function implementations
• pid.cpp — PID controller logic
• utils.cpp — Math and geometry utility function implementations

2. Robot Configuration

Edit custom/src/robot-config.cpp and custom/include/robot-config.h to match your robot’s hardware.

• Set the correct ports for motors, sensors, and other robot devices
• Group drive motors into left_chassis and right_chassis motor groups

3. Tuning Your Robot

In custom/src/robot-config.cpp, locate the section labeled USER-CONFIGURABLE PARAMETERS and adjust the following:

• distance_between_wheels: Distance between the left and right wheels (in inches)
• wheel_distance_in: Wheel circumference (see comments in code for help)
• PID constants: distance_kp, distance_ki, distance_kd, etc.

If using a horizontal and/or vertical tracking wheel:

• Set using_horizontal_tracker = true and/or using_vertical_tracker = true
• Configure tracker distances and diameters accordingly

4. Autonomous Programming

Edit custom/src/autonomous.cpp to define your autonomous routines.

You can use the motion functions from motor-control.h:

• driveTo(distance, time_limit, exit, max_output)
• turnToAngle(angle, time_limit, exit, max_output)
• moveToPoint(x, y, dir, time_limit, exit, max_output, overturn)
• boomerang(x, y, dir, angle, dlead, time_limit, exit, max_output, overturn)

Select the routine to run inside the runAutonomous() function in custom/src/user.cpp.

5. Driver Control

Edit the runDriver() function in custom/src/user.cpp.

By default, it uses tank drive:

driveChassis(ch3 * 0.12, ch2 * 0.12);

You can customize this for:

• Arcade drive
• Split arcade
• Adding button controls for mechanisms

6. Competition Setup

This template follows the VEX Competition structure:

• pre_auton() which calls runPreAutonomous() runs once at startup (ideal for sensor calibration)
• autonomous() which calls runAutonomous() runs during the autonomous period
• usercontrol() which calls runDriver() runs during the driver control period
• The main() function connects all of these automatically

7. Tips for Success

• Read comments in each file — they clarify how each function and variable works
• Tune PID values for optimal performance
• Test motion functions like driveTo, turnToAngle, and moveToPoint individually
• Use odometry for advanced navigation (with or without tracking wheels)
• Don’t hesitate to reach out to me or the VEX community for help
• Join our discord (link is in the description)

8. Where to Start

• Set up ports and devices in custom/src/robot-config.cpp and custom/include/robot-config.h
• Input chassis measurements and PID values in custom/src/robot-config.cpp
• Confirm movement and controls via driver control testing
• Create and test simple autonomous routines
• Expand with more complex logic and paths as you grow confident

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This template is competition-ready and provides a strong foundation for building reliable, high-performance autonomous routines using proven robotics algorithms, whether or not your robot uses advanced odometry.

If you find this template useful, please star this repository and subscribe to https://www.youtube.com/@1698V to follow my team's progress and learn more about our programming.