hardware

Hardware abstractions for PROS and the VEX V5

This PROS template aims to simplify interactions with devices, and implement a common interface so virtually any custom sensors can be used in projects which depend on this template.

Features

• Units

• Uncompromising error handling

• Motor Class

  • Changing encoder units don't affect reported angle
  • Differentiation between 11W and 5.5W motors
  • -1.0 to +1.0 power levels, adjusts automatically to motor type
  • Type Safe enums

• Motor Groups

  • Motor disconnects/reconnects don't affect reported angle
  • Adding motors automatically sets their brake mode and measured angle
  • Removing motors doesn't affect the measured angle
  • Automatic per-motor gear ratio calculations. Just input port and cartridge. Supports different cartridges in the same group

• Abstract Encoders

  • Generic interface for any encoder
  • Support for all VEX encoders, as well as any custom encoder for use in VEX AI (VAIRC) or VEX U (VURC)
    • All custom encoders
    • Motors / Motor Groups
    • V5 Rotation Sensor
    • Optical Shaft encoder

• Abstract Gyro

  • Generic interface for any gyro
  • Support for VEX gyros, as well as any custom gyros for use in VEX AI or VEX U
    • All custom gyros
    • V5 Inertial Sensor
    • V5 GPS Sensor (pending viability tests, gyro only)

Who Should Use This?

This template is geared for developers of PROS templates such as LemLib and its users, especially VURC and VAIRC teams.