Robot Mesh Studio is a popular choice for VEX programming in both EDR (Cortex/V5) and IQ. This video introduces you to the development environment and shows you how to use it. The demo uses VEX IQ as an example, but remember that this would work exactly the same for VEX EDR with Cortex and V5. The only differences are in the programming languages supported.
Where do you access this for V5?
The programming environment is the same for V5, Cortex and IQ. Take a look at the video, and where the narrator chooses “VEX IQ Mimic” you also have the choice of Cortex or V5.
@TeamTX Link with timestamp of robot platform selection: https://youtu.be/tfAdf52q-CE?t=74