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Interacting with the touchscreen on the V5 Brain is made possible through LVGL. LVGL is a full-featured C graphics library (it's accessible in C++ projects too under the same API).

The first step to getting started with LVGL is to include pros/apix.h in your main.h file or other header files. This includes the full LVGL feature set as described in their documentation: https://docs.lvgl.io/master/index.html

You can follow along with any of the LVGL tutorials or wiki. There is no need to port or initialize LVGL, you can simply start creating objects.