From e42feadb22c1e383f8ebe5083042b72445d0218b Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Tue, 12 Mar 2024 21:55:31 -0700
Subject: [PATCH 1/9] feat: simple embedded graphics driver for the V5 display

---
 packages/pros-graphics/Cargo.toml | 19 +++++++
 packages/pros-graphics/src/lib.rs | 82 +++++++++++++++++++++++++++++++
 2 files changed, 101 insertions(+)
 create mode 100644 packages/pros-graphics/Cargo.toml
 create mode 100644 packages/pros-graphics/src/lib.rs

diff --git a/packages/pros-graphics/Cargo.toml b/packages/pros-graphics/Cargo.toml
new file mode 100644
index 00000000..580dbeda
--- /dev/null
+++ b/packages/pros-graphics/Cargo.toml
@@ -0,0 +1,19 @@
+[package]
+name = "pros-graphics"
+version = "0.1.0"
+edition = "2021"
+license = "MIT"
+description = "Core functionality for pros-rs"
+keywords = ["PROS", "Robotics", "graphics", "vex", "v5"]
+categories = [
+    "api-bindings",
+    "no-std",
+    "science::robotics",
+]
+
+[dependencies]
+embedded-graphics-core = "0.4.0"
+pros-devices = { version = "0.1.0", path = "../pros-devices" }
+
+[lints]
+workspace = true
diff --git a/packages/pros-graphics/src/lib.rs b/packages/pros-graphics/src/lib.rs
new file mode 100644
index 00000000..7e5d2d14
--- /dev/null
+++ b/packages/pros-graphics/src/lib.rs
@@ -0,0 +1,82 @@
+//! An embedded_graphics driver for VEX V5 Brain displays.
+//! Implemented for the [`pros-rs`](https://crates.io/crates/pros) ecosystem and implemented using [pros-devices](https://crates.io/crates/pros-devices).
+#![no_std]
+
+use embedded_graphics_core::{
+    draw_target::DrawTarget,
+    geometry::{Dimensions, Point, Size},
+    pixelcolor::{Rgb888, RgbColor},
+    primitives::Rectangle,
+    Pixel,
+};
+use pros_devices::{
+    color::Rgb,
+    Screen,
+};
+
+/// An embedded_graphics driver for the Brain display
+pub struct VexDisplay {
+    screen: Screen,
+    pixel_buffer: [[Rgb; Screen::HORIZONTAL_RESOLUTION as _]; Screen::VERTICAL_RESOLUTION as _],
+}
+
+impl VexDisplay {
+    /// Creates a new VexDisplay from a Screen
+    pub const fn new(screen: Screen) -> Self {
+        Self {
+            screen,
+            pixel_buffer: [[Rgb::new(0, 0, 0); Screen::HORIZONTAL_RESOLUTION as _];
+                Screen::VERTICAL_RESOLUTION as _],
+        }
+    }
+}
+
+impl From<Screen> for VexDisplay {
+    fn from(value: Screen) -> Self {
+        Self::new(value)
+    }
+}
+
+impl Dimensions for VexDisplay {
+    fn bounding_box(&self) -> Rectangle {
+        Rectangle::new(
+            Point::new(0, 0),
+            Size::new(
+                Screen::HORIZONTAL_RESOLUTION as _,
+                Screen::VERTICAL_RESOLUTION as _,
+            ),
+        )
+    }
+}
+
+impl DrawTarget for VexDisplay {
+    type Color = Rgb888;
+    type Error = pros_devices::screen::ScreenError;
+
+    fn draw_iter<I>(&mut self, pixels: I) -> Result<(), Self::Error>
+    where
+        I: IntoIterator<Item = Pixel<Self::Color>>,
+    {
+        pixels
+            .into_iter()
+            .map(|pixel| (pixel.0, Rgb::new(pixel.1.r(), pixel.1.g(), pixel.1.b())))
+            .for_each(|(pos, color)| {
+                // Make sure that the coordinate is valid to index with.
+                if !(pos.x > Screen::HORIZONTAL_RESOLUTION as _ || pos.x < 0)
+                    && !(pos.y > Screen::VERTICAL_RESOLUTION as _ || pos.y < 0)
+                {
+                    self.pixel_buffer[pos.y as usize][pos.x as usize] = color
+                }
+            });
+
+        self.screen.draw_buffer(
+            0,
+            0,
+            Screen::HORIZONTAL_RESOLUTION,
+            Screen::VERTICAL_RESOLUTION,
+            self.pixel_buffer.clone().into_iter().flatten(),
+            Screen::HORIZONTAL_RESOLUTION as _,
+        )?;
+        Ok(())
+    }
+}

From 528b6a9d932c191f3c85cf45ec00d954a50d7405 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Tue, 12 Mar 2024 21:56:43 -0700
Subject: [PATCH 2/9] chore: fmt

---
 packages/pros-graphics/src/lib.rs | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/packages/pros-graphics/src/lib.rs b/packages/pros-graphics/src/lib.rs
index 7e5d2d14..7c83a0a2 100644
--- a/packages/pros-graphics/src/lib.rs
+++ b/packages/pros-graphics/src/lib.rs
@@ -9,10 +9,7 @@ use embedded_graphics_core::{
     primitives::Rectangle,
     Pixel,
 };
-use pros_devices::{
-    color::Rgb,
-    Screen,
-};
+use pros_devices::{color::Rgb, Screen};
 
 /// An embedded_graphics driver for the Brain display
 pub struct VexDisplay {

From 12ca5467b15cbf170107e1a048ad8e6942b54a54 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Wed, 13 Mar 2024 01:15:20 -0700
Subject: [PATCH 3/9] fix: put pixel buffer on heap to prevent stack overflows

---
 flake.lock                        | 115 ++++++++++++++++++++++++------
 packages/pros-graphics/Cargo.toml |   1 +
 packages/pros-graphics/src/lib.rs |  44 ++++++++----
 3 files changed, 124 insertions(+), 36 deletions(-)

diff --git a/flake.lock b/flake.lock
index 6fded360..46ebd0b4 100644
--- a/flake.lock
+++ b/flake.lock
@@ -3,14 +3,15 @@
     "cargo-pros": {
       "inputs": {
         "flake-utils": "flake-utils",
-        "nixpkgs": "nixpkgs"
+        "nixpkgs": "nixpkgs",
+        "pros-cli-nix": "pros-cli-nix"
       },
       "locked": {
-        "lastModified": 1703362525,
-        "narHash": "sha256-QPFRaWCDlHKyFu4P4HCsw8pKkJcznup0NIwOjGkkI7g=",
+        "lastModified": 1709775910,
+        "narHash": "sha256-PF60KNzSX+Z2zrk1KLAPtrzsnoW7A9k8r60zmZbsyQ4=",
         "owner": "pros-rs",
         "repo": "cargo-pros",
-        "rev": "479331022e4a74a62eaa1f776325c690e449f5dd",
+        "rev": "fc8d1f336cd09314b69a7810a59e0c0e4d65a252",
         "type": "github"
       },
       "original": {
@@ -36,16 +37,33 @@
         "type": "indirect"
       }
     },
+    "flake-parts_2": {
+      "inputs": {
+        "nixpkgs-lib": "nixpkgs-lib_2"
+      },
+      "locked": {
+        "lastModified": 1688254665,
+        "narHash": "sha256-8FHEgBrr7gYNiS/NzCxIO3m4hvtLRW9YY1nYo1ivm3o=",
+        "owner": "hercules-ci",
+        "repo": "flake-parts",
+        "rev": "267149c58a14d15f7f81b4d737308421de9d7152",
+        "type": "github"
+      },
+      "original": {
+        "id": "flake-parts",
+        "type": "indirect"
+      }
+    },
     "flake-utils": {
       "inputs": {
         "systems": "systems"
       },
       "locked": {
-        "lastModified": 1692799911,
-        "narHash": "sha256-3eihraek4qL744EvQXsK1Ha6C3CR7nnT8X2qWap4RNk=",
+        "lastModified": 1709126324,
+        "narHash": "sha256-q6EQdSeUZOG26WelxqkmR7kArjgWCdw5sfJVHPH/7j8=",
         "owner": "numtide",
         "repo": "flake-utils",
-        "rev": "f9e7cf818399d17d347f847525c5a5a8032e4e44",
+        "rev": "d465f4819400de7c8d874d50b982301f28a84605",
         "type": "github"
       },
       "original": {
@@ -59,11 +77,11 @@
         "systems": "systems_2"
       },
       "locked": {
-        "lastModified": 1694529238,
-        "narHash": "sha256-zsNZZGTGnMOf9YpHKJqMSsa0dXbfmxeoJ7xHlrt+xmY=",
+        "lastModified": 1710146030,
+        "narHash": "sha256-SZ5L6eA7HJ/nmkzGG7/ISclqe6oZdOZTNoesiInkXPQ=",
         "owner": "numtide",
         "repo": "flake-utils",
-        "rev": "ff7b65b44d01cf9ba6a71320833626af21126384",
+        "rev": "b1d9ab70662946ef0850d488da1c9019f3a9752a",
         "type": "github"
       },
       "original": {
@@ -74,11 +92,11 @@
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1694062546,
-        "narHash": "sha256-PiGI4f2BGnZcedP6slLjCLGLRLXPa9+ogGGgVPfGxys=",
+        "lastModified": 1709675310,
+        "narHash": "sha256-w61tqFEmuJ+/1rAwU7nkYZ+dN6sLwyobfLwX2Yn42FE=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "b200e0df08f80c32974a6108ce431d8a8a5e6547",
+        "rev": "43d259f8d726113fac056e8bb17d5ac2dea3e0a8",
         "type": "github"
       },
       "original": {
@@ -104,21 +122,53 @@
         "type": "github"
       }
     },
+    "nixpkgs-lib_2": {
+      "locked": {
+        "dir": "lib",
+        "lastModified": 1688049487,
+        "narHash": "sha256-100g4iaKC9MalDjUW9iN6Jl/OocTDtXdeAj7pEGIRh4=",
+        "owner": "NixOS",
+        "repo": "nixpkgs",
+        "rev": "4bc72cae107788bf3f24f30db2e2f685c9298dc9",
+        "type": "github"
+      },
+      "original": {
+        "dir": "lib",
+        "owner": "NixOS",
+        "ref": "nixos-unstable",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
     "nixpkgs_2": {
       "locked": {
-        "lastModified": 1681358109,
-        "narHash": "sha256-eKyxW4OohHQx9Urxi7TQlFBTDWII+F+x2hklDOQPB50=",
+        "lastModified": 1688231357,
+        "narHash": "sha256-ZOn16X5jZ6X5ror58gOJAxPfFLAQhZJ6nOUeS4tfFwo=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "96ba1c52e54e74c3197f4d43026b3f3d92e83ff9",
+        "rev": "645ff62e09d294a30de823cb568e9c6d68e92606",
         "type": "github"
       },
+      "original": {
+        "owner": "NixOS",
+        "ref": "nixos-unstable",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "nixpkgs_3": {
+      "locked": {
+        "lastModified": 0,
+        "narHash": "sha256-n6F0n8UV6lnTZbYPl1A9q1BS0p4hduAv1mGAP17CVd0=",
+        "path": "/nix/store/bjvqq8c79dbi59g7xzcc6lhl0f19m3d7-source",
+        "type": "path"
+      },
       "original": {
         "id": "nixpkgs",
         "type": "indirect"
       }
     },
-    "nixpkgs_3": {
+    "nixpkgs_4": {
       "locked": {
         "lastModified": 1688231357,
         "narHash": "sha256-ZOn16X5jZ6X5ror58gOJAxPfFLAQhZJ6nOUeS4tfFwo=",
@@ -137,14 +187,33 @@
     "pros-cli-nix": {
       "inputs": {
         "flake-parts": "flake-parts",
-        "nixpkgs": "nixpkgs_3"
+        "nixpkgs": "nixpkgs_2"
       },
       "locked": {
-        "lastModified": 1691848327,
-        "narHash": "sha256-bGijqyZb+orLxmY541hUdVJKa44VB6iV2Aviwn5Ji5k=",
+        "lastModified": 1706024690,
+        "narHash": "sha256-SVzHiRW6edEhN/etZvG6T6h54z+LySxNWOi179ly8/4=",
         "owner": "BattleCh1cken",
         "repo": "pros-cli-nix",
-        "rev": "4c00d8e3c6caa377e67ce0cf84923feba5533f23",
+        "rev": "3c2c47944735013c6252b16e086534b76d55bf36",
+        "type": "github"
+      },
+      "original": {
+        "owner": "BattleCh1cken",
+        "repo": "pros-cli-nix",
+        "type": "github"
+      }
+    },
+    "pros-cli-nix_2": {
+      "inputs": {
+        "flake-parts": "flake-parts_2",
+        "nixpkgs": "nixpkgs_4"
+      },
+      "locked": {
+        "lastModified": 1706024690,
+        "narHash": "sha256-SVzHiRW6edEhN/etZvG6T6h54z+LySxNWOi179ly8/4=",
+        "owner": "BattleCh1cken",
+        "repo": "pros-cli-nix",
+        "rev": "3c2c47944735013c6252b16e086534b76d55bf36",
         "type": "github"
       },
       "original": {
@@ -157,8 +226,8 @@
       "inputs": {
         "cargo-pros": "cargo-pros",
         "flake-utils": "flake-utils_2",
-        "nixpkgs": "nixpkgs_2",
-        "pros-cli-nix": "pros-cli-nix"
+        "nixpkgs": "nixpkgs_3",
+        "pros-cli-nix": "pros-cli-nix_2"
       }
     },
     "systems": {
diff --git a/packages/pros-graphics/Cargo.toml b/packages/pros-graphics/Cargo.toml
index 580dbeda..a965a99f 100644
--- a/packages/pros-graphics/Cargo.toml
+++ b/packages/pros-graphics/Cargo.toml
@@ -14,6 +14,7 @@ categories = [
 [dependencies]
 embedded-graphics-core = "0.4.0"
 pros-devices = { version = "0.1.0", path = "../pros-devices" }
+pros-sys = { version = "0.7.0", path = "../pros-sys" }
 
 [lints]
 workspace = true
diff --git a/packages/pros-graphics/src/lib.rs b/packages/pros-graphics/src/lib.rs
index 7c83a0a2..33d3ed53 100644
--- a/packages/pros-graphics/src/lib.rs
+++ b/packages/pros-graphics/src/lib.rs
@@ -1,6 +1,11 @@
 //! An embedded_graphics driver for VEX V5 Brain displays.
 //! Implemented for the [`pros-rs`](https://crates.io/crates/pros) ecosystem and implemented using [pros-devices](https://crates.io/crates/pros-devices).
 #![no_std]
+#![feature(new_uninit)]
+
+extern crate alloc;
+
+use alloc::boxed::Box;
 
 use embedded_graphics_core::{
     draw_target::DrawTarget,
@@ -14,16 +19,32 @@ use pros_devices::{color::Rgb, Screen};
 /// An embedded_graphics driver for the Brain display
 pub struct VexDisplay {
     screen: Screen,
-    pixel_buffer: [[Rgb; Screen::HORIZONTAL_RESOLUTION as _]; Screen::VERTICAL_RESOLUTION as _],
+    pixel_buffer:
+        Box<[u32; Screen::HORIZONTAL_RESOLUTION as usize * Screen::VERTICAL_RESOLUTION as usize]>,
 }
 
 impl VexDisplay {
     /// Creates a new VexDisplay from a Screen
-    pub const fn new(screen: Screen) -> Self {
+    pub fn new(screen: Screen) -> Self {
+        let pixel_buffer = Box::new_zeroed();
+        let pixel_buffer = unsafe { pixel_buffer.assume_init() };
+
         Self {
             screen,
-            pixel_buffer: [[Rgb::new(0, 0, 0); Screen::HORIZONTAL_RESOLUTION as _];
-                Screen::VERTICAL_RESOLUTION as _],
+            pixel_buffer,
+        }
+    }
+
+    unsafe fn draw_buffer(&self) {
+        unsafe {
+            pros_sys::screen_copy_area(
+                0,
+                0,
+                Screen::HORIZONTAL_RESOLUTION,
+                Screen::VERTICAL_RESOLUTION,
+                self.pixel_buffer.as_ptr(),
+                Screen::HORIZONTAL_RESOLUTION as _,
+            );
         }
     }
 }
@@ -62,18 +83,15 @@ impl DrawTarget for VexDisplay {
                 if !(pos.x > Screen::HORIZONTAL_RESOLUTION as _ || pos.x < 0)
                     && !(pos.y > Screen::VERTICAL_RESOLUTION as _ || pos.y < 0)
                 {
-                    self.pixel_buffer[pos.y as usize][pos.x as usize] = color
+                    // SAFETY: We initialize the buffer with zeroes, so it's safe to assume it's initialized.
+                    self.pixel_buffer[(pos.y as usize * Screen::HORIZONTAL_RESOLUTION as usize)
+                        + pos.x as usize] = color.into();
                 }
             });
 
-        self.screen.draw_buffer(
-            0,
-            0,
-            Screen::HORIZONTAL_RESOLUTION,
-            Screen::VERTICAL_RESOLUTION,
-            self.pixel_buffer.clone().into_iter().flatten(),
-            Screen::HORIZONTAL_RESOLUTION as _,
-        )?;
+        unsafe {
+            self.draw_buffer();
+        }
         Ok(())
     }
 }

From d987f4eeee3a9de5274665b2007d67d3fa256ea4 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Wed, 13 Mar 2024 11:34:23 -0700
Subject: [PATCH 4/9] refactor: improve driver code quality

---
 packages/pros-graphics/src/lib.rs | 24 +++++++++++++-----------
 1 file changed, 13 insertions(+), 11 deletions(-)

diff --git a/packages/pros-graphics/src/lib.rs b/packages/pros-graphics/src/lib.rs
index 33d3ed53..770404a1 100644
--- a/packages/pros-graphics/src/lib.rs
+++ b/packages/pros-graphics/src/lib.rs
@@ -18,24 +18,27 @@ use pros_devices::{color::Rgb, Screen};
 
 /// An embedded_graphics driver for the Brain display
 pub struct VexDisplay {
-    screen: Screen,
     pixel_buffer:
         Box<[u32; Screen::HORIZONTAL_RESOLUTION as usize * Screen::VERTICAL_RESOLUTION as usize]>,
 }
 
 impl VexDisplay {
     /// Creates a new VexDisplay from a Screen
-    pub fn new(screen: Screen) -> Self {
+    pub fn new(_screen: Screen) -> Self {
         let pixel_buffer = Box::new_zeroed();
         let pixel_buffer = unsafe { pixel_buffer.assume_init() };
 
-        Self {
-            screen,
-            pixel_buffer,
-        }
+        Self { pixel_buffer }
     }
 
-    unsafe fn draw_buffer(&self) {
+    /// Draws the pixel buffer to the screen
+    ///
+    /// # Note
+    ///
+    /// I would use the [`Screen::draw_buffer`](pros_devices::screen::Screen::draw_buffer) API,
+    /// but unfortunately it stack overflows with a buffer this big and is more complicated.
+    fn draw_buffer(&self) {
+        // SAFETY: The pixel buffer is guarenteed to be large enough and live long enough and we take ownership of the screen when created.
         unsafe {
             pros_sys::screen_copy_area(
                 0,
@@ -84,14 +87,13 @@ impl DrawTarget for VexDisplay {
                     && !(pos.y > Screen::VERTICAL_RESOLUTION as _ || pos.y < 0)
                 {
                     // SAFETY: We initialize the buffer with zeroes, so it's safe to assume it's initialized.
-                    self.pixel_buffer[(pos.y as usize * Screen::HORIZONTAL_RESOLUTION as usize)
+                    self.pixel_buffer[pos.y as usize * Screen::HORIZONTAL_RESOLUTION as usize
                         + pos.x as usize] = color.into();
                 }
             });
 
-        unsafe {
-            self.draw_buffer();
-        }
+        self.draw_buffer();
+
         Ok(())
     }
 }

From 172d070fe2b1a72f522ec58e9091ceed8cf22d48 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Wed, 13 Mar 2024 13:07:56 -0700
Subject: [PATCH 5/9] feat: add graphics feature to pros

---
 packages/pros/Cargo.toml |  2 ++
 packages/pros/src/lib.rs | 10 +++++++++-
 2 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/packages/pros/Cargo.toml b/packages/pros/Cargo.toml
index 97e368fc..f751e8d8 100644
--- a/packages/pros/Cargo.toml
+++ b/packages/pros/Cargo.toml
@@ -21,6 +21,7 @@ rust-version = "1.75.0"
 pros-sync = { version = "0.1.0", path = "../pros-sync", optional = true }
 pros-async = { version = "0.1.0", path = "../pros-async", optional = true }
 pros-devices = { version = "0.1.0", path = "../pros-devices", optional = true }
+pros-graphics = { version = "0.1.0", path = "../pros-graphics", optional = true }
 pros-panic = { version = "0.1.0", path = "../pros-panic", optional = true }
 pros-core = { version = "0.1.0", path = "../pros-core", optional = true }
 pros-math = { version = "0.1.0", path = "../pros-math", optional = true }
@@ -35,6 +36,7 @@ async = ["dep:pros-async"]
 sync = ["dep:pros-sync"]
 
 devices = ["dep:pros-devices"]
+graphics = ["dep:pros-graphics"]
 
 math = ["dep:pros-math"]
 
diff --git a/packages/pros/src/lib.rs b/packages/pros/src/lib.rs
index e14accd7..d9e9e801 100644
--- a/packages/pros/src/lib.rs
+++ b/packages/pros/src/lib.rs
@@ -61,6 +61,8 @@ pub use pros_async as async_runtime;
 pub use pros_core as core;
 #[cfg(feature = "devices")]
 pub use pros_devices as devices;
+#[cfg(feature = "graphics")]
+pub use pros_graphics as graphics;
 #[cfg(feature = "math")]
 pub use pros_math as math;
 #[cfg(feature = "panic")]
@@ -82,6 +84,10 @@ pub mod prelude {
         print, println,
         task::delay,
     };
+    #[cfg(all(not(feature = "graphics"), feature = "devices"))]
+    pub use pros_devices::screen::{
+        Circle, Line, Rect, Text, TextFormat, TextPosition, TouchState,
+    };
     #[cfg(feature = "devices")]
     pub use pros_devices::{
         adi::{
@@ -99,7 +105,7 @@ pub mod prelude {
         color::Rgb,
         peripherals::{DynamicPeripherals, Peripherals},
         position::Position,
-        screen::{Circle, Line, Rect, Screen, Text, TextFormat, TextPosition, TouchState},
+        screen::Screen,
         smart::{
             distance::DistanceSensor,
             expander::AdiExpander,
@@ -113,6 +119,8 @@ pub mod prelude {
             SmartDevice, SmartPort,
         },
     };
+    #[cfg(feature = "graphics")]
+    pub use pros_graphics::VexDisplay;
     #[cfg(feature = "math")]
     pub use pros_math::{feedforward::MotorFeedforwardController, pid::PidController};
     #[cfg(feature = "sync")]

From 567f0c14aef4c049f40cc46a904279d4a58f9e73 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Wed, 13 Mar 2024 13:44:03 -0700
Subject: [PATCH 6/9] refactor: rename VexDisplay to V5BrainDisplay

---
 packages/pros-graphics/src/lib.rs | 12 ++++++------
 packages/pros/src/lib.rs          |  2 +-
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/packages/pros-graphics/src/lib.rs b/packages/pros-graphics/src/lib.rs
index 770404a1..9b226b52 100644
--- a/packages/pros-graphics/src/lib.rs
+++ b/packages/pros-graphics/src/lib.rs
@@ -16,13 +16,13 @@ use embedded_graphics_core::{
 };
 use pros_devices::{color::Rgb, Screen};
 
-/// An embedded_graphics driver for the Brain display
-pub struct VexDisplay {
+/// An embedded_graphics driver for the V5 Brain display
+pub struct V5BrainDisplay {
     pixel_buffer:
         Box<[u32; Screen::HORIZONTAL_RESOLUTION as usize * Screen::VERTICAL_RESOLUTION as usize]>,
 }
 
-impl VexDisplay {
+impl V5BrainDisplay {
     /// Creates a new VexDisplay from a Screen
     pub fn new(_screen: Screen) -> Self {
         let pixel_buffer = Box::new_zeroed();
@@ -52,13 +52,13 @@ impl VexDisplay {
     }
 }
 
-impl From<Screen> for VexDisplay {
+impl From<Screen> for V5BrainDisplay {
     fn from(value: Screen) -> Self {
         Self::new(value)
     }
 }
 
-impl Dimensions for VexDisplay {
+impl Dimensions for V5BrainDisplay {
     fn bounding_box(&self) -> Rectangle {
         Rectangle::new(
             Point::new(0, 0),
@@ -70,7 +70,7 @@ impl Dimensions for VexDisplay {
     }
 }
 
-impl DrawTarget for VexDisplay {
+impl DrawTarget for V5BrainDisplay {
     type Color = Rgb888;
     type Error = pros_devices::screen::ScreenError;
 
diff --git a/packages/pros/src/lib.rs b/packages/pros/src/lib.rs
index d9e9e801..5164c80b 100644
--- a/packages/pros/src/lib.rs
+++ b/packages/pros/src/lib.rs
@@ -120,7 +120,7 @@ pub mod prelude {
         },
     };
     #[cfg(feature = "graphics")]
-    pub use pros_graphics::VexDisplay;
+    pub use pros_graphics::V5BrainDisplay;
     #[cfg(feature = "math")]
     pub use pros_math::{feedforward::MotorFeedforwardController, pid::PidController};
     #[cfg(feature = "sync")]

From 9ccac1fca1496433b1cfe2473f406758a4955802 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Wed, 13 Mar 2024 13:46:35 -0700
Subject: [PATCH 7/9] docs: update changelog

---
 CHANGELOG.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index a8942371..71c7e7f8 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -31,6 +31,8 @@ Before releasing:
   - Added support for getting motor fault flags (e.g. over-temperature, over-current, H-bridge faults).
   - Added support for internal motor PID tuning. Feature gated behind `dangerous_motor_tuning`, as this can cause hardware damage and is not recommended.
   - Added various constants for convenience around `Motor` and `Gearset`.
+- An ``embedded_graphics`` driver crate (pros_graphics).
+- New `graphics` feature in the `pros` crate.
 
 ### Fixed
 

From 4f2c77897ce75de47152fd68912c6e3c7b48403e Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Wed, 13 Mar 2024 19:52:43 -0700
Subject: [PATCH 8/9] refactor: allow for multiple graphics drivers in the
 future

---
 packages/pros-graphics/Cargo.toml             |   6 +-
 .../pros-graphics/src/embedded_graphics.rs    |  94 ++++++++++++++++
 packages/pros-graphics/src/lib.rs             | 102 ++----------------
 packages/pros/Cargo.toml                      |   2 +
 4 files changed, 109 insertions(+), 95 deletions(-)
 create mode 100644 packages/pros-graphics/src/embedded_graphics.rs

diff --git a/packages/pros-graphics/Cargo.toml b/packages/pros-graphics/Cargo.toml
index a965a99f..9a8935fb 100644
--- a/packages/pros-graphics/Cargo.toml
+++ b/packages/pros-graphics/Cargo.toml
@@ -12,9 +12,13 @@ categories = [
 ]
 
 [dependencies]
-embedded-graphics-core = "0.4.0"
+embedded-graphics-core = { version = "0.4.0", optional = true }
 pros-devices = { version = "0.1.0", path = "../pros-devices" }
 pros-sys = { version = "0.7.0", path = "../pros-sys" }
 
 [lints]
 workspace = true
+
+[features]
+default = []
+embedded-graphics = ["dep:embedded-graphics-core"]
diff --git a/packages/pros-graphics/src/embedded_graphics.rs b/packages/pros-graphics/src/embedded_graphics.rs
new file mode 100644
index 00000000..0e74a0b3
--- /dev/null
+++ b/packages/pros-graphics/src/embedded_graphics.rs
@@ -0,0 +1,94 @@
+//! An embedded_graphics driver for VEX V5 Brain displays.
+
+use alloc::boxed::Box;
+
+use embedded_graphics_core::{
+    draw_target::DrawTarget,
+    geometry::{Dimensions, Point, Size},
+    pixelcolor::{Rgb888, RgbColor},
+    primitives::Rectangle,
+    Pixel,
+};
+use pros_devices::{color::Rgb, Screen};
+
+/// An embedded_graphics driver for the V5 Brain display
+pub struct V5BrainDisplay {
+    pixel_buffer:
+        Box<[u32; Screen::HORIZONTAL_RESOLUTION as usize * Screen::VERTICAL_RESOLUTION as usize]>,
+}
+
+impl V5BrainDisplay {
+    /// Creates a new VexDisplay from a Screen
+    pub fn new(_screen: Screen) -> Self {
+        let pixel_buffer = Box::new_zeroed();
+        let pixel_buffer = unsafe { pixel_buffer.assume_init() };
+
+        Self { pixel_buffer }
+    }
+
+    /// Draws the pixel buffer to the screen
+    ///
+    /// # Note
+    ///
+    /// I would use the [`Screen::draw_buffer`](pros_devices::screen::Screen::draw_buffer) API,
+    /// but unfortunately it stack overflows with a buffer this big and is more complicated.
+    fn draw_buffer(&self) {
+        // SAFETY: The pixel buffer is guarenteed to be large enough and live long enough and we take ownership of the screen when created.
+        unsafe {
+            pros_sys::screen_copy_area(
+                0,
+                0,
+                Screen::HORIZONTAL_RESOLUTION,
+                Screen::VERTICAL_RESOLUTION,
+                self.pixel_buffer.as_ptr(),
+                Screen::HORIZONTAL_RESOLUTION as _,
+            );
+        }
+    }
+}
+
+impl From<Screen> for V5BrainDisplay {
+    fn from(value: Screen) -> Self {
+        Self::new(value)
+    }
+}
+
+impl Dimensions for V5BrainDisplay {
+    fn bounding_box(&self) -> Rectangle {
+        Rectangle::new(
+            Point::new(0, 0),
+            Size::new(
+                Screen::HORIZONTAL_RESOLUTION as _,
+                Screen::VERTICAL_RESOLUTION as _,
+            ),
+        )
+    }
+}
+
+impl DrawTarget for V5BrainDisplay {
+    type Color = Rgb888;
+    type Error = pros_devices::screen::ScreenError;
+
+    fn draw_iter<I>(&mut self, pixels: I) -> Result<(), Self::Error>
+    where
+        I: IntoIterator<Item = Pixel<Self::Color>>,
+    {
+        pixels
+            .into_iter()
+            .map(|pixel| (pixel.0, Rgb::new(pixel.1.r(), pixel.1.g(), pixel.1.b())))
+            .for_each(|(pos, color)| {
+                // Make sure that the coordinate is valid to index with.
+                if !(pos.x > Screen::HORIZONTAL_RESOLUTION as _ || pos.x < 0)
+                    && !(pos.y > Screen::VERTICAL_RESOLUTION as _ || pos.y < 0)
+                {
+                    // SAFETY: We initialize the buffer with zeroes, so it's safe to assume it's initialized.
+                    self.pixel_buffer[pos.y as usize * Screen::HORIZONTAL_RESOLUTION as usize
+                        + pos.x as usize] = color.into();
+                }
+            });
+
+        self.draw_buffer();
+
+        Ok(())
+    }
+}
diff --git a/packages/pros-graphics/src/lib.rs b/packages/pros-graphics/src/lib.rs
index 9b226b52..aaec18cf 100644
--- a/packages/pros-graphics/src/lib.rs
+++ b/packages/pros-graphics/src/lib.rs
@@ -1,99 +1,13 @@
-//! An embedded_graphics driver for VEX V5 Brain displays.
+//! Graphics driver implementations for the V5 Brain display.
+//!
+//! Currently supports:
+//!     - [embedded-graphics](https://crates.io/crates/embedded-graphics)
 //! Implemented for the [`pros-rs`](https://crates.io/crates/pros) ecosystem and implemented using [pros-devices](https://crates.io/crates/pros-devices).
 #![no_std]
-#![feature(new_uninit)]
+#![cfg_attr(feature = "embedded-graphics", feature(new_uninit))]
 
+#[cfg(feature = "embedded-graphics")]
 extern crate alloc;
 
-use alloc::boxed::Box;
-
-use embedded_graphics_core::{
-    draw_target::DrawTarget,
-    geometry::{Dimensions, Point, Size},
-    pixelcolor::{Rgb888, RgbColor},
-    primitives::Rectangle,
-    Pixel,
-};
-use pros_devices::{color::Rgb, Screen};
-
-/// An embedded_graphics driver for the V5 Brain display
-pub struct V5BrainDisplay {
-    pixel_buffer:
-        Box<[u32; Screen::HORIZONTAL_RESOLUTION as usize * Screen::VERTICAL_RESOLUTION as usize]>,
-}
-
-impl V5BrainDisplay {
-    /// Creates a new VexDisplay from a Screen
-    pub fn new(_screen: Screen) -> Self {
-        let pixel_buffer = Box::new_zeroed();
-        let pixel_buffer = unsafe { pixel_buffer.assume_init() };
-
-        Self { pixel_buffer }
-    }
-
-    /// Draws the pixel buffer to the screen
-    ///
-    /// # Note
-    ///
-    /// I would use the [`Screen::draw_buffer`](pros_devices::screen::Screen::draw_buffer) API,
-    /// but unfortunately it stack overflows with a buffer this big and is more complicated.
-    fn draw_buffer(&self) {
-        // SAFETY: The pixel buffer is guarenteed to be large enough and live long enough and we take ownership of the screen when created.
-        unsafe {
-            pros_sys::screen_copy_area(
-                0,
-                0,
-                Screen::HORIZONTAL_RESOLUTION,
-                Screen::VERTICAL_RESOLUTION,
-                self.pixel_buffer.as_ptr(),
-                Screen::HORIZONTAL_RESOLUTION as _,
-            );
-        }
-    }
-}
-
-impl From<Screen> for V5BrainDisplay {
-    fn from(value: Screen) -> Self {
-        Self::new(value)
-    }
-}
-
-impl Dimensions for V5BrainDisplay {
-    fn bounding_box(&self) -> Rectangle {
-        Rectangle::new(
-            Point::new(0, 0),
-            Size::new(
-                Screen::HORIZONTAL_RESOLUTION as _,
-                Screen::VERTICAL_RESOLUTION as _,
-            ),
-        )
-    }
-}
-
-impl DrawTarget for V5BrainDisplay {
-    type Color = Rgb888;
-    type Error = pros_devices::screen::ScreenError;
-
-    fn draw_iter<I>(&mut self, pixels: I) -> Result<(), Self::Error>
-    where
-        I: IntoIterator<Item = Pixel<Self::Color>>,
-    {
-        pixels
-            .into_iter()
-            .map(|pixel| (pixel.0, Rgb::new(pixel.1.r(), pixel.1.g(), pixel.1.b())))
-            .for_each(|(pos, color)| {
-                // Make sure that the coordinate is valid to index with.
-                if !(pos.x > Screen::HORIZONTAL_RESOLUTION as _ || pos.x < 0)
-                    && !(pos.y > Screen::VERTICAL_RESOLUTION as _ || pos.y < 0)
-                {
-                    // SAFETY: We initialize the buffer with zeroes, so it's safe to assume it's initialized.
-                    self.pixel_buffer[pos.y as usize * Screen::HORIZONTAL_RESOLUTION as usize
-                        + pos.x as usize] = color.into();
-                }
-            });
-
-        self.draw_buffer();
-
-        Ok(())
-    }
-}
+#[cfg(feature = "embedded-graphics")]
+pub mod embedded_graphics;
diff --git a/packages/pros/Cargo.toml b/packages/pros/Cargo.toml
index f751e8d8..306848c1 100644
--- a/packages/pros/Cargo.toml
+++ b/packages/pros/Cargo.toml
@@ -36,7 +36,9 @@ async = ["dep:pros-async"]
 sync = ["dep:pros-sync"]
 
 devices = ["dep:pros-devices"]
+
 graphics = ["dep:pros-graphics"]
+embedded-graphics = ["pros-graphics/embedded-graphics"]
 
 math = ["dep:pros-math"]
 

From 68abf89f67ecd3977426e77f20b9040475a038a6 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Wed, 13 Mar 2024 20:22:55 -0700
Subject: [PATCH 9/9] fix: make prelude work with new features

---
 CHANGELOG.md             | 4 ++--
 packages/pros/src/lib.rs | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 71c7e7f8..af93c6e6 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -31,8 +31,8 @@ Before releasing:
   - Added support for getting motor fault flags (e.g. over-temperature, over-current, H-bridge faults).
   - Added support for internal motor PID tuning. Feature gated behind `dangerous_motor_tuning`, as this can cause hardware damage and is not recommended.
   - Added various constants for convenience around `Motor` and `Gearset`.
-- An ``embedded_graphics`` driver crate (pros_graphics).
-- New `graphics` feature in the `pros` crate.
+- An ``embedded_graphics`` driver in the new `pros_graphics` crate.
+- New `graphics` and `embedded-graphics` features in the `pros` crate.
 
 ### Fixed
 
diff --git a/packages/pros/src/lib.rs b/packages/pros/src/lib.rs
index 5164c80b..014569b2 100644
--- a/packages/pros/src/lib.rs
+++ b/packages/pros/src/lib.rs
@@ -119,8 +119,8 @@ pub mod prelude {
             SmartDevice, SmartPort,
         },
     };
-    #[cfg(feature = "graphics")]
-    pub use pros_graphics::V5BrainDisplay;
+    #[cfg(all(feature = "graphics", feature = "embedded-graphics"))]
+    pub use pros_graphics::embedded_graphics::V5BrainDisplay;
     #[cfg(feature = "math")]
     pub use pros_math::{feedforward::MotorFeedforwardController, pid::PidController};
     #[cfg(feature = "sync")]