BOT3

A Vex V5RC 2025-2026 Pushback robot

written in PROS-4 C++

Project layout

/
┣━ /firmware              # Pros Firmware
┣━ /Include               # Header Files
┃   ┣━ auton.hpp          #
┃   ┣━ autonSelector.hpp  #
┃   ┣━ globals.hpp        #
┃   ┣━ pid.hpp            #
┃   ┗━ tlem.hpp           #
┣━ /src                   # C++ code
┃   ┣━ auton.cpp          # Autonomous Sequences
┃   ┣━ autonSelector.cpp  # Autonomous Selector
┃   ┣━ globals.cpp        # Shared data
┃   ┣━ main.cpp           # Main code
┃   ┣━ pid.cpp            # PID controller
┃   ┗━ tlem.cpp           # Telemetry and debugging functions
┣━ .gitignore             # Git Ignore
┗━ Other misc files for pros

External Libs

• LemLib
• Maelstrom

Code

Globals Namespace

Public	var	Port	use
	master	21*	primary controller
	horizontal_encoder	H?	Odometry Tracking Wheel
	imu	14	Odometry
	left_motor_group	2,3,16	Left Drive Motors
	right_motor_group	11,12,13	Right Drive Motors
	horizontal_tracking_wheel	H?	Odometry Tracking Wheel
	drivetrain		Drivetrain
	sensors		Odometry
	lateral_controller		Drivetrain PID
	angular_controller		Drivetrain PID
	chassis		Chassis
	startPose		Autonomous default position
	intake	4,5	Intake Motors
	hood	5	Hood Motor

Ports Used multiple times

fix hood/intake ports

Main Code

Func	use
initialize	init screens and logging
autonomous	starts selected autonomous
opcontrol	Driver Control