Transmisión#
Introducción#
The drivetrain includes wheels and motors that control how the robot drives and turns. Drivetrains can be configured with motors or motor groups.
Drivetrains use the Inertial Sensor in the Brain to detect crashes and help the robot move and turn precisely. At the start of each project, the drivetrain calibrates the Inertial Sensor automatically. Keep the robot still for about 2 seconds during calibration, so the robot can move and turn correctly.
There are many ways to code the drivetrain. Below is a list of all Drivetrain blocks:
Actions — Move and turn the robot.
drive — Moves the robot forward or reverse forever.
drive for — Moves the robot forward or reverse for a specific distance.
turn — Turns the robot left or right forever.
turn for — Turns the robot left or right for a specific number of degrees.
turn to heading — Turns the robot to face a specific heading.
turn to rotation — Turns the robot to a specific rotation.
stop driving — Stops the robot’s movement.
Settings — Adjust drivetrain settings.
set drive velocity — Tells the robot how fast to drive.
set turn velocity — Tells the robot how fast to turn.
set drive stopping — Tells how the robot will stop moving: by braking, coasting, or holding.
set drive timeout — Sets how many seconds the robot will try to finish a movement.
set drive heading — Changes the robot’s current heading to a new heading.
set drive rotation — Changes the robot’s current rotation to a new rotation.
Values — Check movement status.
drive is done — Reports whether the robot is finished moving.
drive is moving — Reports whether the robot is moving.
drive heading — Reports the robot’s current heading from 0 to 359.99 degrees.
drive rotation — Reports the robot’s current rotation.
drive velocity — Reports how fast the robot is driving.
drive current — Reports how much electrical current the drivetrain is using.
drive power — Reports how quickly the drivetrain is using energy.
drive torque — Reports how much torque the drivetrain is using.
drive efficiency — Reports how efficiently the drivetrain is using power.
drive temperature — Reports how warm the drivetrain is.
Comportamiento#
conducir#
The drive stack block moves the robot forward or reverse forever. The robot will continue to move until it is given another action, like turning or stopping.
unidad [adelante v]
Parámetros |
Descripción |
|---|---|
dirección |
The direction the robot moves: forward or reverse. |
Ejemplo
cuando empezó
[Drive forward, then stop.]
unidad [adelante v]
esperar [2] segundos
deja de conducir
impulso para#
The drive for stack block moves the robot forward or reverse for a specific distance. The project will wait until the robot is done moving before the next block in the stack runs.
unidad [adelante v] para [200] [mm v] ▶
Parámetros |
Descripción |
|---|---|
dirección |
The direction the robot moves: forward or reverse. |
distancia |
The distance the robot drives. This can be an integer or a decimal. |
unidad |
The unit of measurement: mm (millimeters) or inches |
and don’t wait |
Select the arrow ( ▶ ) to expand the block to say and don’t wait, so the next block in the stack will run right away. |
Ejemplo
cuando empezó
[Drive forwards and backwards.]
unidad [adelante v] para [200] [mm v] ▶
esperar [1] segundos
unidad [atrás v] para [200] [mm v] ▶
doblar#
The turn stack block turns the robot left or right forever. The robot will continue to turn until it is given another action, like driving or stopping.
turno [derecha v]
Parámetros |
Descripción |
|---|---|
dirección |
The direction the robot turns: left or right. |
Ejemplo
cuando empezó
[Turn right, then stop.]
turno [derecha v]
esperar [2] segundos
deja de conducir
girar para#
The turn for stack block turns the robot left or right for a specific number of degrees. The turn is relative to the current position of the robot. The project will wait until the robot is done turning before the next block in the stack runs.
girar [derecha v] por [90] grado ▶
Parámetros |
Descripción |
|---|---|
dirección |
The direction the robot turns: left or right. |
ángulo |
The number of degrees the robot turns. This can be an integer or a decimal. |
and don’t wait |
Select the arrow ( ▶ ) to expand the block to say and don’t wait, so the next block in the stack will run right away. |
Ejemplo
cuando empezó
[Turn left, then turn around to the right.]
girar [izquierda v] por [90] grado ▶
girar [derecha v] por [180] grado ▶
girar hacia el encabezamiento#
A heading is the direction the robot is facing, measured in degrees. The turn to heading stack block turns the robot to face a specific heading from -359 to 359 degrees. The robot will turn the shortest direction to reach the target heading.
The starting heading is 0 degrees.
The project will wait until the robot is done turning before the next block in the stack runs.
girar hacia el rumbo (90) grados ▶
Parámetros |
Descripción |
|---|---|
título |
The direction the robot should face as an integer, from -359 to 359 degrees. |
and don’t wait |
Select the arrow ( ▶ ) to expand the block to say and don’t wait, so the next block in the stack will run right away. |
Ejemplo
cuando empezó
[Turn to face the cardinal directions.]
girar hacia el rumbo [90] grados ▶
esperar [2] segundos
girar hacia el rumbo [180] grados ▶
esperar [2] segundos
girar hacia el rumbo [270] grados ▶
esperar [2] segundos
girar hacia el rumbo [0] grados ▶
esperar [2] segundos
girar para rotar#
The turn to rotation stack block turns the robot to a specific rotation.
Rotation is how much the robot has turned, measured in degrees. At the beginning of a project, the rotation value is set to 0 degrees. Rotation can also be set using the set drive rotation block.
Rotation values are absolute. This means the direction of the turn depends on the robot’s current rotation. Turning right increases the rotation, and turning left decreases the rotation.
For example, if the robot starts at 0 degrees and you turn to a rotation of 720 degrees, it will turn right twice. If you then turn to a rotation of 360 degrees, it will turn left once, because 360 is less than 720.
The project will wait until the robot is done turning before the next block in the stack runs.
girar a rotación [90] grados ▶
Parámetros |
Descripción |
|---|---|
rotación |
The rotation value, in degrees, that the robot will turn to. This can be an integer or a decimal. |
and don’t wait |
Select the arrow ( ▶ ) to expand the block to say and don’t wait, so the next block in the stack will run right away. |
Ejemplo
cuando empezó
[Turn left, then spin in a circle clockwise and face right.]
girar a rotación [-90] grados ▶
esperar [2] segundos
girar a rotación [450] grados ▶
dejar de conducir#
The stop driving stack block stops the robot’s movement.
deja de conducir
Parámetros |
Descripción |
|---|---|
Este bloque no tiene parámetros. |
Ejemplo
cuando empezó
[Drive forward, then stop.]
unidad [adelante v]
esperar [4] segundos
deja de conducir
Ajustes#
establecer la velocidad de accionamiento#
The set drive velocity stack block tells the robot how fast to drive. A higher percentage makes the robot drive faster and a lower percentage makes the robot drive slower.
Every project begins with the robot driving at 50% velocity by default.
Note: A higher velocity makes the robot drive faster, but it may be less precise. A lower velocity makes the robot drive slower, but it can be more precise.
establecer la velocidad de accionamiento al (50)%
Parámetros |
Descripción |
|---|---|
velocidad |
The velocity to drive with from 0% to 100%. |
Ejemplo
cuando empezó
[Drive forward at the default velocity.]
unidad [adelante v] para (100) [mm v] ▶
esperar (1) segundos
[Move slower.]
establecer la velocidad de accionamiento al (20)%
unidad [adelante v] para (100) [mm v] ▶
esperar (1) segundos
[Move faster.]
establecer la velocidad de accionamiento al (100)%
unidad [adelante v] para (100) [mm v] ▶
esperar (1) segundos
establecer la velocidad de giro#
The set turn velocity stack block tells the robot how fast to turn. A higher percentage makes the robot turn faster and a lower percentage makes the robot turn slower.
Every project begins with the robot turning at 50% velocity by default.
Note: A higher velocity makes the robot turn faster, but it may be less precise. A lower velocity makes the robot turn slower, but it can be more precise.
establecer la velocidad de giro a [50] [% v]
Parámetros |
Descripción |
|---|---|
velocidad |
The velocity to turn with from 0% to 100%. |
Ejemplo
cuando empezó
[Turn at default velocity.]
girar [derecha v] por (100) grado ▶
esperar (1) segundos
[Turn slower.]
establecer la velocidad de giro al (20)%
girar [derecha v] por (100) grado ▶
esperar (1) segundos
[Turn faster.]
establecer la velocidad de giro al (100)%
girar [derecha v] por (100) grado ▶
esperar (1) segundos
establecer la conducción deteniéndose#
The set drive stopping stack block sets how the robot will stop moving: by braking, coasting, or holding.
Establecer la detención de la unidad en [freno v]
Parámetros |
Descripción |
|---|---|
comportamiento de detención |
How the robot will stop:
|
If this block is not used, the robot will use brake when stopping.
establecer tiempo de espera de la unidad#
The set drive timeout stack block sets how many seconds the robot will try to finish a movement. If the robot cannot finish in that time it will stop trying and move on to the next block in the stack. This keeps the robot from getting stuck on a movement.
Establezca el tiempo de espera de la unidad en (1) segundos
Parámetros |
Descripción |
|---|---|
tiempo |
The number of seconds the robot can try to finish a movement. This can be a whole number or a decimal. |
establecer dirección de conducción#
A heading is the direction the robot is facing, measured in degrees. The set drive heading stack block changes the robot’s current heading to a new heading value.
For example, if the robot has turned to face right, setting the heading to 0 degrees makes that right-facing position the new 0 degrees. Then the robot can turn to other positions based on that new heading.
establecer el rumbo de la unidad a (0) grados
Parámetros |
Descripción |
|---|---|
título |
The heading value, in degrees, to set for the robot. |
Ejemplo
cuando empezó
[Turn to the left.]
establecer el rumbo de la unidad a (90) grados
girar hacia el rumbo (0) grados ▶
ajuste de la rotación del accionamiento#
Rotation is how much the robot has turned, measured in degrees. At the beginning of a project, the rotation value is set to 0 degrees. The set drive rotation stack block changes the robot’s current rotation to a new value.
For example, if the robot has made two full turns to the right, its rotation value will be 720 degrees. Setting the rotation to 0 degrees will reset that rotation from 720 to 0 degrees. Then the robot can turn to rotations based on that new value.
establecer la rotación de la unidad a (0) grados
Parámetros |
Descripción |
|---|---|
rotación |
The rotation value, in degrees, to set for the robot. This can be an integer or a decimal. |
Ejemplo
cuando empezó
[Spin counterclockwise two times.]
establecer la rotación de la unidad a (720) grados
girar a rotación (0) grados ▶
Valores#
drive is done#
The drive is done Boolean block reports whether the robot is finished moving. This can be used to control the timing of other behaviors based on the robot’s movement.
True — The robot is finished moving.
False — The robot is still moving.
This block works together with the following Drivetrain blocks that have the and don’t wait parameter: drive for, turn for, turn to heading, and turn to rotation.
<¿La unidad está lista?>
Parámetros |
Descripción |
|---|---|
Este bloque no tiene parámetros. |
drive is moving#
The drive is moving Boolean block reports whether the robot is moving. This can be used to control the timing of other behaviors based on the robot’s movement.
True — The robot is moving.
False — The robot is not moving.
This block works together with the following Drivetrain blocks that have the and don’t wait parameter: drive for, turn for, turn to heading, and turn to rotation.
<¿La unidad se está moviendo?>
Parámetros |
Descripción |
|---|---|
Este bloque no tiene parámetros. |
dirección de conducción#
A heading is the direction the robot is facing, measured in degrees. The drive heading reporter block reports that heading from 0 to 359.99 degrees.
The robot’s starting heading is 0 degrees.
(rumbo de la unidad en grados)
Parámetros |
Descripción |
|---|---|
Este bloque no tiene parámetros. |
Ejemplo
cuando empezó
[Display the heading after turning.]
girar [derecha v] por (450) grado ▶
imprimir (rumbo de la unidad en grados) en la pantalla ◀ y coloque el cursor en la siguiente fila
rotación de accionamiento#
Rotation is how much the robot has turned, measured in degrees. At the beginning of a project, the rotation value is set to 0 degrees. The drive rotation reporter block reports the robot’s current rotation.
Turning right increases the rotation, and turning left decreases the rotation. For example, making two full turns to the right will report a rotation of 720 degrees.
(rotación de la unidad en grados)
Parámetros |
Descripción |
|---|---|
Este bloque no tiene parámetros. |
Ejemplo
cuando empezó
[Display the rotation after turning.]
girar [derecha v] por (450) grado ▶
imprimir (rotación de la unidad en grados) en la pantalla ◀ y coloque el cursor en la siguiente fila
velocidad de conducción#
The drive velocity reporter block reports how fast the robot is driving.
A positive value means the robot is driving forward. A negative value means the robot is driving in reverse.
(velocidad de accionamiento en [% v])
Parámetros |
Descripción |
|---|---|
unidad |
Unidad de medida:
|
corriente de accionamiento#
The drive current reporter block reports how much electrical current the drivetrain is using, measured in amps (amperes). Current is the amount of electricity flowing through the drivetrain.
A higher current value means the drivetrain is using more electrical current. This can happen when the robot is pushing against an object or trying to move when it is stuck.
This can be used to check if the drivetrain is struggling during a movement. If current stays high, the drivetrain may get warmer or use power less efficiently.
(amperios de corriente de accionamiento)
Parámetros |
Descripción |
|---|---|
Este bloque no tiene parámetros. |
potencia motriz#
The drive power reporter block reports how much power the drivetrain is using, measured in watts. Power shows how quickly the drivetrain is using energy.
A higher power value means the drivetrain is using energy faster. This can happen when the robot is pushing against an object or trying to move when it is stuck.
This can be used to compare movements or check if the drivetrain is struggling. If power stays high, the drivetrain may get warmer or use energy less efficiently.
(potencia de accionamiento en vatios)
Parámetros |
Descripción |
|---|---|
Este bloque no tiene parámetros. |
par motor#
Torque shows how hard the drivetrain can twist, push, or pull while they spin.
The drive torque reporter block reports how much torque the drivetrain is using, measured in inch-pounds (InLb) or Newton-meters (Nm).
A higher torque value means the drivetrain is pushing or pulling harder. This can happen when the robot is pushing against an object or trying to move when it is stuck.
This can be used to check if the drivetrain is struggling or to compare how much push different movements need.
(par de accionamiento en [InLb v])
Parámetros |
Descripción |
|---|---|
unidad |
Unidad de medida:
|
eficiencia de conducción#
The drive efficiency reporter block reports how efficiently the drivetrain is using power, as a percentage from 0% to 100%.
Efficiency shows how much of the drivetrain’s power is being used for movement. A higher efficiency value means more of the drivetrain’s power is being used to move. A lower efficiency value can happen when the drivetrain is working hard but not moving much, like when the robot is stuck or pushing against an object.
This can be used to compare movements or check if the drivetrain is wasting power instead of using it for movement.
(eficiencia del variador en %)
Parámetros |
Descripción |
|---|---|
Este bloque no tiene parámetros. |
temperatura del disco duro#
The drive temperature reporter block reports the temperature of the drivetrain as a percentage from 0% to 100%.
Motor temperature shows how warm the drivetrain is. A higher temperature means the motors are getting warmer while they work. The motors should stay below 55°C to keep working at full performance.
If the motors get too hot, they will lower their maximum current to protect themselves. At 70°C, the motors will stop running until they cool down.
This can be used to check if the drivetrain is getting too hot during repeated movements, long runs, or when they are pushing against an object.
(temperatura de la unidad en %)
Parámetros |
Descripción |
|---|---|
Este bloque no tiene parámetros. |