Project Releases

• Added support for using VEXcode’s SDK via the vex-sdk-vexcode feature. (#361)
• Added support for using the VEX partner SDK via the vex-sdk-pros feature. (#361)
• Added the default-sdk feature for specifying the recommended default SDK features for projects. (#417)
• Added support for using a no-op SDK (for testing code on desktop) via the vex-sdk-mock feature. (#361)
• On vexide’s error details screen, long error messages are now wrapped onto subsequent lines. (#368)
• Added the new LowResolutionTime type to vexide::time for recording timestamps taken by the Brain’s low resolution clock. (#386)
• Added SmartPort::timestamp for accessing the time that the last packet on the port was processed by VEXos. (#386)
• Added the task_local macro to vexide::prelude. (#378)
• Added Electromagnet and GpsSensor to vexide::prelude. (#378)
• Derived Default, Debug, Clone, Copy, Eq, PartialEq for AiVisionColorCode. (#378)

Fixed

• Fixed an issue with Metadata::len using the wrong condition. (#314)
• Fixed backwards assertion logic causing a panic in AiVision::color and AiVision::set_color. (#316)
• Symbols within the internal implementation of the patcher’s memcpy will no longer clash with some libc compiler intrinsics. This should only matter if are linking to C libraries. (#314)
• Fixed a signature validation problem in the original VisionSensor. (#319)
• Fixed AdiDigital*::is_low improperly returning is_high (#324)
• Fixed an issue where writing to the controller screen would sometimes be unreliable in fast loops (#336)
• Fixed Display::erase always using the display’s default background color. (#350)
• AiVisionObject and VisionObject now use the new Angle type for storing object angles. This fixes a bug with the legacy vision sensor using the wrong angle units. (#386) (Breaking Change)
• Fixed an off-by-one error in Display::draw_buffer’s buffer stride calculation causing slanted image rendering. (#397)
• Display now uses half-open pixel coordinates for Rect, Line and Display::draw_buffer. (#395) (Breaking Change)
• Controller::try_rumble now doesn’t unconditionally fail an assert. (#413)

Changed

• Submodules of vexide::devices have been promoted to crate-root modules. For example, vexide::devices::smart::motor::Motor is now vexide::smart::motor::Motor. (#380) (Breaking Change)
• Replaced the Position type with a new Angle type.
  • Angle resides in vexide::math. (#380) (Breaking Change)
  • Angles are backed now backed by radians stored in an f64 rather than a fixed-point representation.
  • Renamed Position::{from, as}_revolutions to Angle::{from, as}_turns.
• {InertialSensor, GpsSensor}::{heading, rotation, angle, euler, set_heading, set_rotation} now take and return instances of the Angle type rather than degrees. (#380) (#378) (Breaking Change)
• AdiGyroscope::yaw now returns Angle. (#380) (Breaking Change)
• Renamed the vexide::devices::rgb module to vexide::color. (#380) (Breaking Change)
• Replaced Rgb<u8> with the Color type. (#395) (Breaking Change)
• Renamed RotationSensor::set_computation_interval to RotationSensor::set_data_interval. (#329) (Breaking Change)
• Renamed vexide::time::uptime to vexide::time::system_uptime. (#373) (Breaking Change)
• TouchEvent now stores the location of the press in a point: Point2<i16> field rather than separate x and y i16 fields. (#375) (Breaking Change)
• Feature-gated the MotorTuningConstants type behind the dangerous-motor-tuning feature. (#374) (Breaking Change)
• Renamed {SerialPort, RadioLink}::available_write_bytes to {SerialPort, RadioLink}::write_capacity. (#376) (Breaking Change)
• Motor methods now return PortError rather than MotorError, which has been removed. (#376) (Breaking Change)
• Renamed AdiGyroscopeError to YawError. (#376) (Breaking Change)
• AdiGyroscope::is_calibrating now returns the PortError when it fails (#376) (Breaking Change).
• Renamed AiVisionError to AiVisionObjectError (#376) (Breaking Change).
• The AiVisionSensor::{temperature, set_color_code, color_code, color_codes, set_color, color, colors, set_detection_mode, raw_status, flags, set_flags, start_awb, enable_test, set_apriltag_family} methods now return PortError when failing (#376) (Breaking Change).
• Renamed DistanceError to DistanceObjectError. (#376) (Breaking Change)
• DistanceSensor::status now returns the PortError when it fails (#376) (Breaking Change).
• The InertialSensor::{status, is_calibrating, is_auto_calibrated, physical_orientation, gyro_rate, acceleration, set_data_interval} methods now return PortError when failing. (#376) (Breaking Change).
• InertialSensor::calibrate now returns the new CalibrateError type rather than InertialError when it fails. (#376) (Breaking Change).
• The backtraces Cargo feature is now named backtrace. (#361) (Breaking Change)
• The dangerous_motor_tuning Cargo feature is now named dangerous-motor-tuning. (#361) (Breaking Change)
• Frames of backtraces are now accessed through the Backtrace::frames function. (#368) (Breaking Change)
• The ProgramFlags struct has been renamed to ProgramOptions. (#361) (Breaking Change)
• The structs related to CodeSignatures have been moved into vexide::program. (#361) (Breaking Change)
• Programs must now opt-in to vexide’s custom memory layout by specifying the linker flag -Tvexide.ld. (#355) (Breaking Change)
• Programs must now opt-in to using vexide’s open source SDK via the vex-sdk-jumptable feature. (#361) (Breaking Change)
• All methods previously returning DeviceTimestamp now return LowResolutionTime. (#386) (Breaking Change)
• Motor::raw_position no longer returns a timestamp along with the raw position. Use Motor::timestamp to access this data instead. (#386) (Breaking Change)
• AdiPotentiomter::angle now returns the Angle type. (#378) (Breaking Change)
• Renamed AdiGyroscopeCalibrationFuture to CalibrateFuture. (#378) (Breaking Change)
• Text::new() now takes a CStr to avoid allocation. Use Text::from_string to pass a regular string. (#395) (Breaking Change)
• FontSize::from_float will now panic rather than returning an error when passed invalid values. (#395) (Breaking Change)
• Renamed the start and end fields on Rect to top_left and bottom_right. (#395) (Breaking Change)
• Renamed the horizontal_align and vertical_align fields on Rect to horizontal_alignment and vertical_alignment. (#395) (Breaking Change)
• SmartDeviceType and AdiDeviceType are now marked #[non_exhaustive]. (#405) (Breaking Change)
• Overhauled the AdiAddrLed API. This API no longer dynamically allocates, and should handle errors more sensibly. Strip length is now a const generic parameter (AdiAddrled<N> where N is the number of diodes on the LED strip). (#325) (Breaking Change)

Removed

• The vexide prelude no longer contains Angle, AiVisionColor, AiVisionColorCode, AiVisionObject, BrakeMode, LedMode, VisionCode, VisionMode, VisionObject, VisionSensor, VisionSignature, WhiteBalance, DynamicPeripherals, battery and Rgb. (#380) (Breaking Change)
• The Position::{from, as}_ticks methods (now Angle::{from, as}_ticks) methods are now private. This may change in the future. (#383) (Breaking Change).
• vexide::startup::startup no longer handles banner printing and no longer takes arguments. If you wish to print a banner without using #[vexide::main], consider using vexide::startup::banner::print instead. (#313) (Breaking Change)
• Removed stride from Display::draw_buffer, fixing a buffer size validation error. If you wish to specify the stride, use vex-sdk directly instead. (#323) (Breaking Change)
• SmartPort and AdiPort are no longer in vexide::prelude. (#376) (Breaking Change)
• Removed AiVisionCode::colors. Prefer using AiVisionCode::iter/AiVisionCode::into_iter instead. (#376) (Breaking Change)
• Removed MotorError. Motors now return PortError with the exception of set_gearset, which returns SetGearsetError. (#376) (Breaking Change)
• Removed vexide’s custom Rust target. Developers should now use the identically-named one built into Rust. (#361) (Breaking Change)
• Removed vexide_core::float and the force_rust_libm Cargo feature. Developers should now use the functions built into std. (#361) (Breaking Change)
• Removed the exit and abort functions. Developers should now use the functions built into std. (#361) (Breaking Change)
• Removed the filesystem access APIs. Developers should now use std::fs. (#361) (Breaking Change)
• Removed the I/O API. Developers should now use std::io. (#361) (Breaking Change)
• Removed certain time measurement APIs, including Instant. Developers should now use std::time. (#361) (Breaking Change)
• Removed the vexide_panic crate. Its functionality has been moved to vexide_startup. (#361) (Breaking Change)
• Removed vexide_startup’s copy of libm it previously linked to. Its functionality is now available from std. (#361)
• Removed InertialSensor::MAX_HEADING and GpsSensor::MAX_HEADING. Prefer Angle::FULL_TURN instead.
• Removed DeviceTimestamp in favor of LowResolutionTime. (#386) (Breaking Change)
• Removed Task and CompetitionRuntime from vexide::prelude. (#393) (Breaking Change)
• Removed HAlign and VAlign. Use Alignment instead. (#395) (Breaking Change)
• Removed InvalidFontSizeError, as it’s no longer returned by FontSize::from_float. (#395) (Breaking Change)
• Removed AddrLedError error. This device now will just return PortError, since the other error states are now either unreachable or will panic at runtime. (#325) (Breaking Change)

Miscellaneous

• The project’s officially supported channel of Rust has been updated to nightly-2025-09-26.
• Extended and improved the documentation for various APIs. (#361)
• Several of vexide’s internal linker script symbols, such as __program_ram_start, have been renamed or removed. (#361)

• Added a missing Drop implementation to File that will close and flush the file descriptor. (#295)
• Fixed an issue where printing large amounts of data to Stdout without ticking the executor would immediately exit the program. (#296)
• StdoutRaw::flush now flushes the outgoing serial buffer (#296)
• Fixed an issue with AdiEncoder potentially configuring the wrong port. (#301)
• Fixed flipped assert logic when writing to the controller screen. (#300)

Changed

• Controller::battery_capacity now returns a float from 0.0 to 1.0 instead of an i32. (#286) (Breaking Change)
• RadioLink::open now panics if id is not a valid CStr rather than returning a Result. (#293) (Breaking Change)
• SerialPort::open now returns a Future that must be awaited before opening the port. (#293) (Breaking Change)
• Renamed vexide::async_runtime module to vexide::runtime. (#305) (Breaking Change)
• The vexide::async_runtime::task module is now a top-level vexide::task module. (#305) (Breaking Change)
• Merged vexide::core::time and vexide::async_runtime::time into a single vexide::time module. (#305) (Breaking Change)
• Moved vexide::core modules to the top-level vexide crate. For example, vexide::core::fs is now vexide::fs. (#305) (Breaking Change)
• InertialSensor::calibrate, AdiGyroscope::calibrate, DynamicPeripherals methods, OpenOptions methods, and Text::align are now callable in const fn context. (#308)
• vexide::allocator is no longer cfg-gated to target_vendor = "vex". (#307)
• Refactored the GPS Sensor API to provide all functionality through a single struct. (#302) (Breaking Change)
• Renamed LazyLock::get back to LazyLock::force. (#310) (Breaking Change)
• The default talc allocator can now be removed by disabling the allocator feature, which is enabled by default. (#311) (Breaking Change)

Removed

• Removed SerialError::Port. SerialPort methods can no longer return PortError. (#293) (Breaking Change)
• Removed the vexide::macro module. (#305) (Breaking Change)
• Removed the vexide::core module in favor of top-level modules of the vexide crate. (#305) (Breaking Change)
• Removed the GpsImu struct. This functionality is now provided entirely through GpsSensor. (#302) (Breaking Change)

Changed

• Renamed Once::is_complete to Once::is_completed for consistency with the standard library. (#257) (Breaking Change)
• All Position methods are now usable in const context. (#254)
• Two-wire ADI devices (AdiEncoder and AdiRangeFinder) now take their ports as separate arguments instead of a tuple. (#271) (Breaking Change)
• AdiEncoder and AdiRangeFinder will now panic if invalid port pairings are passed rather than return a Result. (#271) (Breaking Change)
• AdiDevice is now const-generic over the number of ports used by the device. (#271) (Breaking Change)
• Replaced AdiDevice::port_number with AdiDevice::port_numbers. (#271) (Breaking Change)

Removed

• Replaced vexide_core::allocator::init_heap with vexide_core::allocator::claim, which allows claiming uninitialized memory spans as heap space.
• The Nul, InvalidLine, and InvalidColumn ControllerError variants have been removed. These errors now cause panics. (#266) (Breaking Change)
• DisplayError has been removed and Display::draw_buffer now panics when given a buffer of invalid size. (#266) (Breaking Change)
• The InvalidId and InvalidIdInCode AiVisionError variants have been removed. These errors now cause panics. (#266) (Breaking Change)
• VisionError::InvalidId has been removed. Invalid signature IDs given to VisionSensor will now cause panics. (#266) (Breaking Change)
• The lock functions on Stdin and Stdout are now async. (#265) (Breaking Change)
• Stdin and Stdout instances can no longer be instantiated using struct initialization syntax. Prefer using stdin()/stdout(). (#281) (Breaking Change)

Removed

• Removed the Deref implementation and force method on LazyLock to prevent deadlocks. use the async LazyLock::get instead. (#265) (Breaking Change)
• Removed the Read and Write implementations on Stdin and Stdout respectively to prevent deadlocks. (#265) (Breaking Change)
• Removed EncoderError and RangeFinderError. The respective devices now just return PortError. (#271) (Breaking Change)

New Contributors

• @Saylar27 made their first contribution in #279!
• @ion098 made their first contribution in #278!

• Added the OpticalSensor::GESTURE_UPDATE_INTERVAL (50mS) constant (#211).
• Added a toggle method to AdiDigitalOut to toggle between level outputs.
• Added a SerialPort::set_baud_rate method for the adjusting baudrate of a generic serial smartport after initialization. (#217)
• Added fields containing relevant failure information to several error types (#221) (Breaking Change)
• Added support for the power button in the Controller API. (#231) (Breaking Change)
• Added implementations of Mul<i64> and Div<i64> for Position, allowing for opaque scaling (#230)
• Added panic hook support comparable to the Rust standard library through vexide::panic::set_hook and vexide::panic::take_hook (#234)
• Added support for legacy ADI servos through the AdiServo API. (#241)
• Added support for the V5 AI Vision Sensor (#58)
• Added FOV constants to the Vision Sensor (#58)
• Added missing Send and Sync impls for RwLock. (#239)
• Added the Proportional font family and support for fractional font scaling. (#248) (Breaking Change)
• Added AdiDigitalOut::with_initial_state to set the initial state of a digital output while creating it (#246)
• Added Display::draw_text to write Text to a Display. (#247)
• Added support for the legacy Yaw Rate Gyroscope through the AdiGyroscope struct. (#236)
• Added support for reading/writing to the Brain’s SDCard slot using the vexide::core::fs module. (#22)

Fixed

• AdiAddrLed::set_pixel will now correctly return an error if the device’s ADI expander is disconnected. (#155)
• The dbg!(); now works as expected when no arguments are supplied to it. (#175)
• Motor::velocity now correctly returns the estimated velocity instead of target velocity. (#184) (Breaking Change)
• Removed useless generics from AdiAddrLed::new. (#197) (Breaking Change)
• IMU calibration timeouts should no longer appear when the IMU is in working condition. (#212)
• Fixed an issue preventing ADI updates in fast loops. (#210)
• Motor::status can now actually return the MotorStatus::BUSY flag. (#211)
• Fixed a memory leak on every RadioLink construction. (#220)
• Fixed a panic in RadioLink::open that would occur if a program using a VEXlink radio was ran twice. (#243)
• Fixed a bug with IMU reset offsets being applied incorrectly. (#242)

Changed

• Controller state is now returned all at once to reduce error checking. (#152) (Breaking Change)
• Controller bumper naming scheme has been changed from <left/right>_trigger_<1/2> to button_<r/l><1/2>. (#204) (Breaking Change)
• Button::was_pressed has been renamed to ButtonState::is_now_pressed.
• battery::capacity now returns from 0.0-1.0 rather than 0-100.
• battery::voltage is now returned in volts rather than millivolts.
• battery::current is now returned in amps rather than milliamps.
• Changed the incorrect return types of AdiSolenoid::is_open and AdiSolenoid::is_closed from LogicLevel to bool. (#164) (Breaking Change)
• Renamed Motor::MAX_VOLTAGE to Motor::V5_MAX_VOLTAGE and added Motor::EXP_MAX_VOLTAGE. (#167) (Breaking Change)
• Moved the ability to convert Smart devices to SmartPorts out of the SmartDevice trait and into the devices themselves. (#171) (Breaking Change)
• Renamed SmartDeviceType::Magnet to SmartDeviceType::Electromagnet. (#176) (Breaking Change)
• Getters and constructors will now create warnings when their return values are not used. (#155)
• Renamed OpticalSensor::rgb to OpticalSensor::color and OpticalSensor::raw to OpticalSensor::raw_color (#179) (Breaking Change).
• Made the following functions infallible: AdiAccelerometer::sensitivity, AdiAccelerometer::max_acceleration, AdiPotentiometer::potentiometer_type, AdiPotentiometer::max_angle, Motor::target, and RotationSensor::direction. (#182) (Breaking Change)
• OpticalSensor::led_brightness now returns a number from 0.0 - 1.0 rather than a number from 1 - 100. (#155) (Breaking Change)
• Renamed Motor::update_profiled_velocity to Motor::set_profiled_velocity. (#155) (Breaking Change)
• Mutex is now ?Sized, matching the behavior of the standard library. (#202) (Breaking Change)
• Switched to the rgb for color storage. vexide::devices::color is now vexide::devices::rgb which re-exports the Rgb type. (#201) (Breaking Change)
• Renamed AddrledError::Adi to AddrledError::Port. (#203) (Breaking Change)
• Renamed GpsImu::set_data_rate to GpsImu::set_data_interval. (#199) (Breaking Change)
• Renamed InertialSensor::set_data_rate to InertialSensor::set_data_interval. (#199) (Breaking Change)
• Renamed Motor::DATA_WRITE_INTERVAL to Motor::WRITE_INTERVAL. (#199) (Breaking Change)
• Renamed InertialSensor::accel to InertialSensor::acceleration (#213) (Breaking Change)
• Renamed GpsImu::accel to GpsImu::acceleration (#211) (Breaking Change)
• SerialPort::read_byte now takes &mut self. (#215) (Breaking Change)
• OpticalSensor::last_gesture now returns an Option<Gesture> if no gesture was detected. (#215) (Breaking Change)
• The time field on Gesture is now returned as an instance of SmartDeviceTimestamp. (#215) (Breaking Change)
• Gesture and GestureDirection no longer implements Default. (#215) (Breaking Change)
• Renamed vexide::devices::geometry to vexide::devices::math. (#218) (Breaking Change)
• Replaced the custom Point2 type with mint’s Point2 type for better interop. (#218) (Breaking Change)
• SmartPort::device_type now returns an Option<SmartDeviceType> which returns None if no device is connected or configured to a port. (#219) (Breaking Change)
• Renamed the LinkError::NonTerminatingNul and ControllerError::NonTerminatingNul variants to simply Nul and added a source error. (#220) (Breaking Change)
• Made ControllerScreen methods and Controller::rumble asynchronous and added synchronous try_<action> variants. (#222) (Breaking Change)
• Renamed ControllerScreen::MAX_LINE_LENGTH to ControllerScreen::MAX_COLUMNS. (#222) (Breaking Change)
• Refactored InertialCalibrateFuture to an opaque wrapper over the internal state machine. (#225) (Breaking Change)
• GpsSensor::new is now infallible and no longer returns a Result. (#240) (Breaking Change)
• RadioLink::new can now only fail on NulError and will not bail if a radio is disconnected. (#240) (Breaking Change)
• RadioLink::unread_bytes can now return a LinkError::ReadError. (#243)
• RadioLink::is_linked is now infallible. (#243) (Breaking Change)

Removed

• Removed Motor::DATA_READ_INTERVAL. Use Motor::UPDATE_INTERVAL instead. (#199) (Breaking Change)
• Removed InertialSensor::CALIBRATION_TIMEOUT and replaced it with the InertialSensor::CALIBRATION_START_TIMEOUT and InertialSensor::CALIBRATION_START_TIMEOUT constants. (#212) (Breaking Change)
• AdiDigitalOut::level now reads the actual reported level value from VEXos, and thus now returns a Result. (#210) (Breaking Change)
• Removed the defunct usd module from vexide::devices. (#198) (Breaking Change)
• Removed AdiSolenoid. Use AdiDigitalOut instead. (#210) (Breaking Change)
• Removed the deprecated ZERO_POSITION and ZERO_VELOCITY Motor status flags. (#211) (Breaking Change)
• GestureDirection::None has been removed, as OpticalSensor::next_gesture now returns an Option<Gesture>. (#215) (Breaking Change)
• GestureDirection no longer has a From conversion for u32. (#215) (Breaking Change)
• Removed the nalgebra feature. All math types should natively support nalgebra conversions without any additional features. (#218) (Breaking Change)
• Removed SmartDeviceType::None. SmartPort::device_type now returns an Option<SmartDeviceType> which serves the same purpose. (#219) (Breaking Change)
• Removed Position-to-Position Mul/Div ops, as they were mathematically unsound. Prefer using Position-to-scalar operations for this. (#237) (Breaking Change)
• Removed LinkError::Nul. (#240) (Breaking Change)
• Removed LinkError::Port, because it was broken. VEXlink will no longer perform port validation. (#243) (Breaking Change)
• Removed the TextSize enum. Use the associated constants on the new FontSize struct instead. (#248) (Breaking Change)

New Contributors

@zabackary made their first contribution in #164!

Changed

• Refactored the distance sensor API. All readings from the sensor are now read at once in a object method that can be possibly None if no object was detected. (#122) (Breaking Change)
• Adjusted distance sensor status code errors to be more clear.
• Overhauled the design of the startup banner.
• Adjusted distance sensor error names. (#113) (Breaking Change)
• Renamed SmartDevice::port_index and SmartPort::index to SmartDevice::port_number and SmartPort::port_number. (#121) (Breaking Change)
• Renamed AdiDevice::port_index and AdiPort::index to AdiDevice::port_number and AdiDevice::port_number. (#121) (Breaking Change)
• SmartPort::device_type now no longer returns a Result. (#121) (Breaking Change)
• Updated the names of certain misspelled enum variants, constants, and fields. (#132) (Breaking Change)
• Marks many futures as #[must_use] to warn when futures are created without awaiting them. (#112)
• Changes the banner attribute syntax in the vexide::main macro. (#127) (Breaking Change)
• Controller joystick axis getters now return f64 instead of f32. (#133) (Breaking Change)
• Fixed an issue where the async executor would block indefinetly on the first program run after a Brain reboot (#139)
• Removed the critical_section module from vexide_core, since vexide doesn’t use interrupts and it can potentially break VEXos operations. (#144) (Breaking Change)
• Switched to a hard-float libm build with up to 6 times faster floating point operations. (#145)

Fixed

• Peripherals can now be mutated in the main function (#75)
• Panic messages now output over serial even on display_panics feature.

Changed

• Updated vex-sdk to version 0.17.0. (#76)
• Renamed ColdHeader to CodeSignature. (#76) (Breaking Change)
• Renamed the entrypoint symbol from _entry to _start. (#76) (Breaking Change)
• Renamed __stack_start and __stack_end symbols to __stack_top and __stack_bottom respectively. (#76) (Breaking Change)
• Renamed the .cold_magic section to .code_signature. (#76) (Breaking Change)
• Made fields on screen widgets public. (#81)
• Renamed Competition to CompetitionRuntime, CompetitionRobotExt to CompetitionExt, and CompetitionRobot to Competition. (#87) (Breaking Change)
• Removed the Error associated type from the Competition trait and made all methods infallible. (#87) (Breaking Change)

Removed

• The no-banner feature has been removed from vexide-startup and must now be toggled through the vexide:main attribute. (#102) (Breaking Change)
• Removed the useless __rodata_start and __rodata_end symbols.
• Support for vexide-math has been dropped. (#78) (Breaking Change)