Using PROS¶

RW-Template also comes as a PROS template, so you can add it to a new or existing PROS project. The motions, settings, odometry and auton selector are the same as in the VEXcode version. Only the device setup uses PROS's types. It needs PROS kernel 4.2.1 or newer.

Install¶

In VS Code with the PROS extension, open your project and its PROS terminal (the PROS icon on the left, then Integrated Terminal).

New projects have kernel 4.2.1 or newer. For a project you already have, check its kernel version with:

pros c info-project

If it's older, update it first:

pros c upgrade

Then add RW-Template:

pros c add-depot RW-Template https://raw.githubusercontent.com/richardbwang/RW-Template/depot/stable.json
pros c apply RW-Template

The first command tells PROS where to find RW-Template, and you only need it once per computer. The second adds RW to your project:

include/rw/ and firmware/RW-Template.a: RW itself
src/rw-config.cpp: your devices and settings
src/rw-autons.cpp: your autonomous routines
src/rw-user.cpp: your pre-autonomous, autonomous and driver code
include/rw-config.h: declarations for your own devices and autons
sim/: the simulator, which runs your autons on a computer

Connect it to main.cpp¶

In a new PROS project, replace everything in src/main.cpp with this:

#include "main.h"
#include "rw-config.h"

void initialize() { runPreAutonomous(); }
void disabled() {}
void competition_initialize() {}
void autonomous() { runAutonomous(); }
void opcontrol() { runDriver(); }

The main.cpp a new PROS project starts with prints to the Brain screen with LLEMU (pros::lcd), which would draw over RW's auton selector. In a project you already have, add the three RW calls to your own initialize(), autonomous() and opcontrol() instead, and remove any pros::lcd calls.

Set up your robot¶

Then follow the Quick Start, using these files in place of the custom folder:

VEXcode	PROS
`custom/src/robot-config.cpp`	`src/rw-config.cpp`
`custom/src/autonomous.cpp`	`src/rw-autons.cpp`
`custom/src/user.cpp`	`src/rw-user.cpp`
`custom/include/robot-config.h` and `autonomous.h`	`include/rw-config.h`

Devices use PROS's types, with the names RW expects:

pros::MotorGroup left_chassis({-1, -2, 3}, pros::MotorGearset::blue);  // A negative port reverses a motor
pros::Imu inertial_sensor(7);
pros::Rotation horizontal_tracker(-10);
pros::Distance front_sensor(12);

Define every one of them in src/rw-config.cpp, even devices your robot doesn't have (give those any free port), the same way as on VEXcode.

Simulator¶

The simulator works in PROS projects too. With a C++ compiler installed on your computer (see Running the Simulator for that and the options), run this from the project folder:

sh sim/run-sim.sh "Tuning Test"

It builds your src/ files with RW's code from sim/rw/ (firmware/RW-Template.a only runs on the robot) and stand-ins for PROS's devices in sim/pros/. Then it runs initialize() and autonomous() from your src/main.cpp, the way PROS does, and writes a replay to sim/out/.

The stand-ins cover RW and the common parts of PROS: motors and motor groups, the IMU, rotation and distance sensors, three-wire ports, tasks, timing and the controller. The Brain screen and LLEMU (pros::lcd) work too, but show nothing. Code that uses another library, like LemLib or OkapiLib, won't build in the simulator.

Update¶

Run this again in your project's PROS terminal:

pros c apply RW-Template

PROS replaces RW's own files (sim/ too, apart from your replays and robot profile) and leaves src/rw-config.cpp, src/rw-autons.cpp, src/rw-user.cpp and include/rw-config.h alone. New settings have defaults, so your files keep building.

Differences from VEXcode¶

The rest of these docs show VEXcode code. RW's functions are the same on PROS, but a few things are written differently:

VEXcode	PROS
`ch3`, `ch4`, `ch1`, `ch2` (the sticks)	`stick(pros::E_CONTROLLER_ANALOG_LEFT_Y)`, `LEFT_X`, `RIGHT_X` and `RIGHT_Y`. `stick()` is in `src/rw-user.cpp` and turns PROS's -127 to 127 into the -100 to 100 RW uses
`wait(10, msec)`	`pros::delay(10)`
`intake_motor.spin(fwd, 12, volt)`	`intake_motor.move_voltage(12000)` (in millivolts)
`intake_motor.stop(hold)`	`intake_motor.set_brake_mode(pros::MotorBrake::hold);` then `intake_motor.brake();`
`stopChassis(hold)`	`stopChassis(pros::MotorBrake::hold)`
`waitUntil(done());`	`while (!done()) pros::delay(5);` There's no `waitUntil()`, because it would clash with LemLib's

Also:

RW's code goes into each upload along with yours, because it uses your devices by name
The auton selector shows the letters RW where the VEXcode version shows the logo