The paper introduces *PProgramAR*, a novel end-user robot programming system that combines augmented reality (AR) with trigger-action programming (TAP) to facilitate human-robot collaboration. PProgramAR allows users to author task rules and desired reactive robot behaviors, specifying task constraints, and observing program feedback directly in the real world. The system provides visual feedback by simulating the robot's intended behavior and evaluating TAP rule executability, aiding users in understanding and debugging their programs. A validation study involving 17 participants of various ages and experience levels demonstrated the effectiveness of PProgramAR in programming robots for collaborative tasks. The results show that PProgramAR enhances the robot programming process for non-experts by combining AR and TAP, providing intuitive visual feedback and supporting different levels of expression. The system's open-source code is available for further research and extensions.The paper introduces *PProgramAR*, a novel end-user robot programming system that combines augmented reality (AR) with trigger-action programming (TAP) to facilitate human-robot collaboration. PProgramAR allows users to author task rules and desired reactive robot behaviors, specifying task constraints, and observing program feedback directly in the real world. The system provides visual feedback by simulating the robot's intended behavior and evaluating TAP rule executability, aiding users in understanding and debugging their programs. A validation study involving 17 participants of various ages and experience levels demonstrated the effectiveness of PProgramAR in programming robots for collaborative tasks. The results show that PProgramAR enhances the robot programming process for non-experts by combining AR and TAP, providing intuitive visual feedback and supporting different levels of expression. The system's open-source code is available for further research and extensions.