Core

This is the host repository for the custom VEX libraries used by the RIT VEXU team

Automatically updated documentation is available at here. There is also a downloadable reference manual.

Getting Started

If you just want to start a project with Core, make a fork of the Fork Template and follow it's instructions.

To setup core for an existing project:

1. Create a new vex project (using the VSCode extension or other methods)
2. Initialize a git repository for the project
3. Execute git subtree add --prefix=core https://github.com/RIT-VEX-U/Core.git main
4. Update the vex Makefile (or any other build system) to know about the core files (core/src for source files, core/include for headers) (See here for an example)
5. Enable Eigen (Latest supported version is 3.4.0):
   • mkdir vendor
   • git submodule add https://gitlab.com/libeigen/eigen.git vendor/eigen
   • cd vendor/eigen
   • git checkout 3.4.0
   • Add the following to the makefile to give Core access to the library: INC += -Ivendor/eigen (See here for an example)

If you only wish to use a single version of Core, you can simply clone core/ into your project and add the core source and header files to your makefile.

Features

Here is the current feature list this repo provides:

Subsystems (See Wiki/Subsystems):

• Tank drivetrain (user control / autonomous)
• Mecanum drivetrain (user control / autonomous)
• Odometry
  • Tank (Differential)
  • N-Pod
• Flywheel
• Lift
• Custom encoders

Utilities (See Wiki/Utilites):

• PID controller
• FeedForward controller
• Trapezoidal motion profile controller
• Pure Pursuit
• Generic auto program builder
• Auto program UI selector
• Mathematical classes (Vector2D, Moving Average)