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https://jacksonarearobotics.github.io/JAR-Template/A C++ library for VexCode Pro V5 providing a framework for robotics development. It includes a drive class for chassis control with PID and odometry, a general-use PID class, and tools for writing autonomous routines.
JAR Template (Jackson Area Robotics Template) is a library designed for use with Vexcode Pro V5 and the VEX VS Code Extension. It provides a set of powerful tools for robot control and navigation, including:
void usercontrol() function located in \src\main.cpp. The JAR Template provides built-in support for tank, arcade, and holonomic drive for the chassis; however, any additional motors, mechanisms, or sensors must be programmed manually. Verify the setup by running the project and testing the drive and example autonomous routines.To add a new autonomous routine to the JAR-Template, you must declare the function, define its behavior, and map it to a selection case in the main control loop.
\include\autons.h (e.g., void my_first_auton();).\src\autons.cpp using the function name declared in step 1.\src\main.cpp, locate the void pre_auton() function. Find a case block (e.g., case 0:) and update the Brain.Screen.printAt text to the name you want displayed on the brain screen.\src\main.cpp, locate the void autonomous() function. In the corresponding case block, call your auton function.case 0, the auton is the default. For other cases, tap the brain screen during the pre-auton phase to select the desired routine.// 1. In \include\autons.h
void my_first_auton();
// 2. In \src\autons.cpp
void my_first_auton(){
chassis.drive_distance(12);
chassis.turn_to_angle(90);
chassis.drive_distance(12);
chassis.drive_distance(-12);
chassis.turn_to_angle(0);
chassis.drive_distance(-12);
}
// 3. In \src\main.cpp -> void pre_auton()
case 0:
Brain.Screen.printAt(5, 140, "My First Auton");
break;
// 4. In \src\main.cpp -> void autonomous()
case 0:
my_first_auton();
break;drive_setup enum value. All setups use the same constructor prototype but interpret the parameters differently:| Setup Enum | Description |
|---|---|
ZERO_TRACKER_NO_ODOM | No tracking wheels. No edits needed after gyro_scale. |
ZERO_TRACKER_ODOM | Uses right side motor encoders for position. ForwardTracker_center_distance is the distance from robot center to right wheels. |
TANK_ONE_FORWARD_ENCODER | Single optical encoder for forward/backward movement. |
TANK_ONE_FORWARD_ROTATION | Single V5 rotation sensor for forward/backward movement. |
TANK_ONE_SIDEWAYS_ENCODER | Right motor encoders for forward/backward; optical encoder for sideways. |
TANK_ONE_SIDEWAYS_ROTATION | Right motor encoders for forward/backward; V5 rotation sensor for sideways. |
TANK_TWO_ENCODER | Two perpendicular optical encoders (Forward and Sideways). |
TANK_TWO_ROTATION | Two perpendicular V5 rotation sensors. Ports must be in "PORT1" format. |
HOLONOMIC_TWO_ENCODER | Holonomic drive with two optical encoders. |
JAR-Template.zip file from the latest releases page and import it into your chosen IDE. When prompted by VexCode, provide a memorable name for the project to complete the import.\src\main.cpp. To maintain template compatibility, do not add any motor groups, ports, or sensors that are not already present in the file.Drive::control_arcade() to implement a standard arcade drive setup where the left joystick controls forward/backward movement and the right joystick controls turning. This is useful for quick testing of drive port reversals and general robot movement.void Drive::control_arcade();Drive::control_tank() to implement a quick setup for tank drive robots, allowing for verification that drive ports are reversed properly and the robot drives as expected.void Drive::control_tank();The Drive constructor is used to build drivetrains with varying levels of tracking and odometry support. Every drive style requires a V5 inertial sensor. To ensure the code compiles, you must follow the provided examples exactly and only fill in the existing fields; do not add or remove parameters from the constructor.
Optical Encoder Wiring Note: For red optical encoders, the top wire is plugged into the port indicated in VexCode, and the bottom wire is plugged into the port immediately below it. For example, port "3" corresponds to triports C (top) and D (bottom); port "5" corresponds to ports E (top) and F (bottom).
Drive::Drive(
enum::drive_setup drive_setup,
motor_group DriveL,
motor_group DriveR,
int gyro_port,
float wheel_diameter,
float wheel_ratio,
float gyro_scale,
int DriveLF_port,
int DriveRF_port,
int DriveLB_port,
int DriveRB_port,
int ForwardTracker_port,
float ForwardTracker_diameter,
float ForwardTracker_center_distance,
int SidewaysTracker_port,
float SidewaysTracker_diameter,
float SidewaysTracker_center_distance
);default_constants() function to reset all drive parameters to their original default values.chassis.turn_max_voltage = 3;
chassis.turn_to_angle(90);
// Reset all parameters to default before the next move
default_constants();
chassis.turn_to_angle(0);chassis object. Member variables persist across multiple function calls until they are manually changed or reset. This is the preferred method for maintaining readability when only a few parameters need to be adjusted.// Set a specific timeout and then perform a turn
chassis.turn_timeout = 10000;
chassis.turn_to_angle(90);
// Set max voltage once; it will apply to all subsequent turns
chassis.turn_max_voltage = 3;
chassis.turn_to_angle(90);
chassis.turn_to_angle(0);HOLONOMIC_TWO_ROTATION setup is designed specifically for four-motor X-Drives or Mecanum drives. This configuration requires two tracking wheels positioned perpendicular to each other: one Forward Tracker (parallel to the direction of travel) and one Sideways Tracker (perpendicular to the direction of travel). Ensure that the tracker ports are provided in "PORT1" format.