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ControlWorkbench PROS Library

?? THE ONLY LIBRARY YOU NEED FOR VRC ??

Complete VEX V5 robotics library for PROS

Version License PROS

Everything included. No other libraries required. Just add and go.

?? What's Included

Module Features
Chassis Pure Pursuit, Boomerang, move-to-point, turn-to-heading, swing turns
Odometry Tracking wheels, motor encoders, IMU fusion, GPS fusion
PID Anti-windup, derivative filtering, motion profiling, settle detection
Subsystems Intake (color sorting), Lift (presets), Pneumatics, Flywheel
Sensors Vision, GPS, Distance, Optical, Line Tracker, IMU (all wrapped)
Path Gen Hermite splines, Bezier curves, velocity profiling, path mirroring
Logging SD card recording, match replay, performance analysis
Utilities Auton selector, driver curves, match timer, debug display
Telemetry Real-time streaming, remote tuning, emergency stop

?? Installation (30 seconds)

your_project/
??? include/
?   ??? cwb/              ? Copy this folder
?   ?   ??? cwb.hpp
?   ?   ??? telemetry.hpp
?   ?   ??? pid.hpp
?   ?   ??? odometry.hpp
?   ?   ??? chassis.hpp
?   ?   ??? subsystems.hpp
?   ?   ??? sensors.hpp
?   ?   ??? path.hpp
?   ?   ??? logger.hpp
?   ?   ??? utils.hpp
?   ??? main.h
??? src/
    ??? main.cpp

In ONE .cpp file (usually main.cpp):

#define CWB_IMPLEMENTATION
#include "cwb/cwb.hpp"

In other files, just:

#include "cwb/cwb.hpp"

That's it! No Makefile changes. No other dependencies.

?? Complete Example

#define CWB_IMPLEMENTATION
#include "cwb/cwb.hpp"

// ???????????????????????????????????????????????????????????????????
// HARDWARE
// ???????????????????????????????????????????????????????????????????
pros::MotorGroup left_drive({-1, -2, -3}, pros::MotorGearset::blue);
pros::MotorGroup right_drive({4, 5, 6}, pros::MotorGearset::blue);
pros::Imu imu(10);
pros::Motor intake_motor(7);
pros::MotorGroup lift_motors({-8, 9});
pros::Optical optical(15);

// ???????????????????????????????????????????????????????????????????
// CWB OBJECTS
// ???????????????????????????????????????????????????????????????????
cwb::Chassis chassis(left_drive, right_drive, imu);
cwb::Intake intake(intake_motor, optical);
cwb::Lift lift(lift_motors);
cwb::Pneumatic mogo_clamp('A');
cwb::AutonSelector selector;
cwb::Controller master(pros::E_CONTROLLER_MASTER);
cwb::Logger logger;

// ???????????????????????????????????????????????????????????????????
// AUTONOMOUS ROUTINES
// ???????????????????????????????????????????????????????????????????
void red_positive() {
    chassis.move_to_point(24, 24);
    mogo_clamp.extend();
    intake.run();
    chassis.follow_path({{24, 36}, {24, 48}, {36, 48}});
    chassis.move_to_point(12, 12);
    mogo_clamp.retract();
}

void skills() {
    cwb::MatchTimer::start(cwb::MatchTimer::Mode::Skills);
    logger.start("skills");
    
    // Generate smooth path
    cwb::PathGenerator gen;
    auto path = gen.generate({{0, 0}, {24, 24}, {48, 24}, {48, 48}});
    chassis.follow_path(path);
    
    // Continue with more actions...
    logger.stop();
}

// ???????????????????????????????????????????????????????????????????
// INITIALIZE
// ???????????????????????????????????????????????????????????????????
void initialize() {
    cwb::init();
    
    // CRITICAL: Emergency stop
    cwb::on_emergency_stop([]() {
        left_drive.move(0);
        right_drive.move(0);
        intake_motor.move(0);
        lift_motors.move(0);
    });
    
    // Configure
    chassis.calibrate();
    lift.add_position("down", 0);
    lift.add_position("score", 180);
    intake.set_target_color(cwb::Intake::Color::Red);
    master.set_curve(cwb::DriverCurve::desmos, 5.0);
    
    // Auton selector
    selector.add("Red +", red_positive);
    selector.add("Skills", skills);
    selector.init();
    
    cwb::print_diagnostics();
}

// ???????????????????????????????????????????????????????????????????
// AUTONOMOUS
// ???????????????????????????????????????????????????????????????????
void autonomous() {
    selector.run();
}

// ???????????????????????????????????????????????????????????????????
// DRIVER CONTROL
// ???????????????????????????????????????????????????????????????????
void opcontrol() {
    while (true) {
        cwb::update();
        chassis.update();
        
        // Drive
        chassis.arcade(master.get_left_y(), master.get_right_x());
        
        // Intake
        if (master.held(DIGITAL_R1)) intake.run();
        else if (master.held(DIGITAL_R2)) intake.reverse();
        else intake.stop();
        intake.update();
        
        // Lift
        if (master.pressed(DIGITAL_Y)) lift.go_to("score");
        if (master.pressed(DIGITAL_A)) lift.go_to("down");
        lift.update();
        
        // Pneumatics
        if (master.pressed(DIGITAL_L1)) mogo_clamp.toggle();
        
        pros::delay(10);
    }
}

?? API Reference

Chassis Control

cwb::Chassis chassis(left_motors, right_motors, imu);

// Setup
chassis.set_tracking_wheels(&left, &right, 2.75);  // Optional
chassis.calibrate();

// Motion commands
chassis.move_to_point(24, 24);                     // Drive to point
chassis.move_to_point(24, 24, cwb::MoveOptions()
    .set_max_speed(80)
    .set_timeout(3000));
chassis.turn_to_heading(90);                       // Turn to heading
chassis.move_distance(24);                         // Relative distance
chassis.follow_path(path);                         // Pure Pursuit
chassis.boomerang(24, 24, 90);                     // Curved approach

// Driver control
chassis.arcade(forward, turn);
chassis.tank(left, right);

Subsystems

// Intake with color sorting
cwb::Intake intake(motor, optical);
intake.set_target_color(cwb::Intake::Color::Red);
intake.enable_sorting(true);
intake.run();
intake.update();  // Call every loop

// Lift with presets
cwb::Lift lift(motors);
lift.add_position("down", 0);
lift.add_position("score", 180);
lift.go_to("score");
lift.update();  // Call every loop

// Pneumatics
cwb::Pneumatic clamp('A');
clamp.extend();
clamp.retract();
clamp.toggle();

// Flywheel
cwb::Flywheel flywheel(motor);
flywheel.set_target_rpm(3000);
if (flywheel.at_speed()) { /* shoot */ }
flywheel.update();

Sensors

// Vision
cwb::Vision vision(1);
auto obj = vision.get_largest(1);  // Get largest object with signature 1
if (obj && obj->is_centered()) { /* aligned */ }

// GPS
cwb::GPS gps(1, 0, 0);  // Port, X offset, Y offset
auto pos = gps.get_position();
if (gps.has_fix()) { /* reliable position */ }

// Distance
cwb::Distance dist(1);
if (dist.is_within(12)) { /* object within 12 inches */ }

// Optical
cwb::Optical optical(1);
if (optical.is_red()) { /* red object */ }

// Line tracker array
cwb::LineArray lines({'A', 'B', 'C'});
double error = lines.get_position();  // -1 to 1

// IMU
cwb::IMU imu(1);
if (imu.is_tipping()) { /* robot tipping! */ }

Path Generation

cwb::PathGenerator gen;
gen.set_constraints({.max_velocity = 60, .max_acceleration = 120});

// Generate smooth path from waypoints
std::vector<cwb::Waypoint> waypoints = {{0, 0}, {24, 24}, {48, 24}};
auto path = gen.generate(waypoints);

// Utilities
path = cwb::PathUtils::mirror(path);   // For opposite alliance
path = cwb::PathUtils::reverse(path);  // For driving backward
path = cwb::PathUtils::rotate(path, 90);

// Bezier curves
auto curve = cwb::BezierPath::cubic(p0, p1, p2, p3);

Data Logging

// Simple value logging
cwb::Logger logger;
logger.start("match1");
logger.log("x", x);
logger.log("y", y);
logger.tick();  // Call every loop
logger.stop();

// Match recording for replay
cwb::MatchRecorder recorder;
recorder.start_autonomous();
recorder.record(x, y, theta, left_power, right_power);
recorder.save("skills.csv");

// Performance analysis
auto analysis = cwb::PerformanceAnalyzer::analyze(recorder);
cwb::log_info(analysis.summary());

Auton Selector

cwb::AutonSelector selector;
selector.add("Red +", red_positive, "Red alliance, positive corner");
selector.add("Skills", skills, "60-second skills run");
selector.init();  // In initialize()
selector.run();   // In autonomous()

Driver Control

cwb::Controller master(pros::E_CONTROLLER_MASTER);
master.set_curve(cwb::DriverCurve::desmos, 5.0);
master.set_deadzone(5);

int forward = master.get_left_y();   // Curved
int turn = master.get_right_x();

if (master.pressed(DIGITAL_A)) { }   // New press
if (master.held(DIGITAL_A)) { }      // While held

master.rumble("-.");  // Feedback

Match Timer

cwb::MatchTimer::start(cwb::MatchTimer::Mode::Skills);  // 60 sec

int ms = cwb::MatchTimer::remaining_ms();
std::string time = cwb::MatchTimer::format_remaining();

if (cwb::MatchTimer::is_endgame(30000)) {
    // 30 seconds left!
}

?? Configuration Tips

PID Tuning

All PID gains are remotely tunable via ControlWorkbench:

// Gains are automatically created as: lateral.kP, lateral.kI, lateral.kD
// Adjust in real-time without re-uploading code!

Color Sorting

intake.set_target_color(cwb::Intake::Color::Red);   // Keep red, eject blue
intake.set_eject_color(cwb::Intake::Color::Blue);   // Explicitly eject blue

Path Mirroring

// Create path for Red alliance
auto red_path = gen.generate({{12, 12}, {24, 24}});

// Mirror for Blue alliance
auto blue_path = cwb::PathUtils::mirror(red_path);

? Troubleshooting

Issue Solution
No telemetry Call cwb::update() every loop
Odometry drifting Calibrate IMU, measure dimensions carefully
Robot not stopping on E-stop Implement cwb::on_emergency_stop()
Auton not running Call selector.init() and selector.run()
Color sorting not working Call intake.update() every loop
SD card not working Check card format (FAT32), use /usd/ path

?? Memory Usage

Module Flash RAM
Core (telemetry, PID) ~15KB ~2KB
Chassis + Odometry ~12KB ~1KB
Subsystems ~8KB ~0.5KB
Sensors ~10KB ~0.5KB
Path + Logger ~12KB ~1KB
Utils ~6KB ~0.5KB
Total ~63KB ~5.5KB

V5 Brain has 32MB flash and 512KB RAM - plenty of room!

?? License

MIT License - Use freely in your robotics projects!

Built for VRC Champions ??

One library. Complete robot control. Win Worlds.