This repository holds the C++ code for KCD's VEX 2023 Over Under robot (95993A).

This update was written after the Kentucky HS State Championship. Our 5 ball autonomous was highly successful, probably one of the best at the comp. We ended up 13th after qualis (6 wins, 2 losses, somehow being put after teams that had a 50% win ratio). We managed to get 7th in skills (tied for 3rd best prog score, 159 driver & 147 prog).

Unfortunately we got DQ'd during first elimination round because a very tinnny part of our robot touched the opponent elevation bar as we were driving underneath it during last 15 secs.

• Simple tank drive controls
• 3 wheel odometry system
  • uses 2 internal encoders
  • 1 exterior encoder for lateral movement
• PID Control
• Boomerang Control
  • For making curved turns
• Pure Pursuit
  • Path tracking algorithm
• Catapult control
  • Rotational sensor to read position
  • Single press to fire once
  • Hold for rapid fire
• Wings toggle
• Video decoder
  • Plays a video on the brain screen using LVGL and a simple mpeg1 decoder library
  • Can play up to 40fps. Will automatically calculate the correct framerate for the video /usd/game.mpeg

See [[src/config.hpp]] for the port configuration. Can be easily edited to accomodate broken ports.

• PROSv5 - C++ API to interface with the VEX hardware
• LVGL - C library for graphics rendering on the brain screen
• gifdec - C library for decoding gifs GIFs have been replaced with:
• pl_mpeg - C library to decode MPEG1 video files.
• GoogleTests - C++ library for unit testing

To run the tests, run the following command:

# Generate configuration
cmake -S . -B build

# Build and run tests
cmake --build build
./build/Robot

• scripts/htmlify.sh - Converts all source files (controlled by a list containing glob patterns) to one large HTML file so you can export and paste into your design notebook.
  • After using this, use pdmtoppm -r 250 -png <pdf> page -progress to convert to PNGs
  • Then use LibreOffice Impress, import > media > image gallery to import images
  • Then export as .pptx and import that to Google Slides
  • Kind of a pain, but most HTML/PDF -> PPTX converters mess up the formatting.

Install ffmpeg and run

$ ffmpeg -i ./your-file.mp4 ./output.mpeg