transmisión#

Inicializando la clase de transmisión #

Se crea un sistema de transmisión utilizando el siguiente constructor:

The drivetrain constructor creates a drivetrain object.

Parámetro	Descripción
`lm`	The name of the Left `Motor` or `Motor Group`.
`rm`	The name of the Right `Motor` or `Motor Group`.
`wheelTravel`	Circunferencia de las ruedas motrices. El valor predeterminado es 300 mm.
`trackWidth`	Ancho de vía del tren motriz. El valor predeterminado es 320 mm.
`wheelBase`	Distancia entre ejes del tren motriz. El valor predeterminado es 320 mm.
`units`	A valid `distanceUnit` for the units that wheelTravel, trackWidth and wheelBase are specified in. The default is `mm`.
`externalGearRatio`	The `gearSetting` of the motor used to compensate drive distances if gearing is used.

Motors and/or Motor Groups must be created first before they can be used to create an object with the drivetrain Class constructor.

// Create the Motors.
motor left_motor = motor(PORT1,false);
motor right_motor = motor(PORT2, true);
// Construct a 2-Motor drivetrain "Drivetrain" with the
// drivetrain class.
drivetrain Drivetrain = drivetrain(left_motor, right_motor, 259.34, 320, 40, mm, ratio18_1);

If making a 4-Motor Drivetrain, you need to create the Motors separately before grouping them into a Motor Group.

// Create the left Motors and group them under the
// motor_group "leftMotors".
motor leftMotorA = motor(PORT1, false);
motor leftMotorB = motor(PORT2, false);
motor_group leftMotors = motor_group(leftMotorA, leftMotorB);
// Create the right Motors and group them under the
// MotorGroup "rightMotors".
motor rightMotorA = motor(PORT3, true);
motor rightMotorB = motor(PORT4, true);
motor_group rightMotors = motor_group(rightMotorA, rightMotorB);
// Construct a 4-Motor drivetrain "Drivetrain" with the
// drivetrain class.
drivetrain Drivetrain = drivetrain(leftMotors, rightMotors, 259.34, 320, 40, mm, ratio18_1);

This Drivetrain object will be used in all subsequent examples throughout this API documentation when referring to drivetrain class methods.

Para incorporar un Sensor inercial o un Sensor giroscópico para una funcionalidad de giro mejorada en su transmisión, puede incluirlo al crear un objeto usando el constructor de clase smartdrive.

Métodos de clase #

drive()#

Este es un método sin espera y permite que el siguiente método se ejecute sin demora.

Este método se llama de las siguientes maneras:

The drive(dir) method is used to drive the drivetrain in the specified direction forever at the default velocity as specified by the setDriveVelocity() method, until another drivetrain movement method is used, or the project is stopped.

Parámetros	Descripción
`dir`	A valid `DirectionType`.

Devoluciones: Ninguna.

// Drive the drivetrain forward.
Drivetrain.drive(forward);

The drive(dir, velocity, units) method is used to drive the drivetrain in the specified direction forever at a specified velocity, until another drivetrain movement method is used, or the project is stopped.

Parámetros	Descripción
`dir`	A valid `directionType`.
`velocity`	La velocidad a la que se moverá el tren motriz.
`units`	A valid `velocityUnit`.

Devoluciones: Ninguna.

// Drive the drivetrain forward at 100 rpm.
Drivetrain.drive(forward, 100, rpm);

driveFor()#

This can be a waiting or non-waiting method depending on if the waitForCompletion parameter is used.

Este método se llama de las siguientes maneras:

The driveFor(distance, units, waitForCompletion) method is used to drive the drivetrain for a specified distance at the default velocity.

Parámetros	Descripción
`distance`	La distancia que debe recorrer el tren motriz.
`units`	A valid `DistanceUnit`. The default is `inches`.
`waitForCompletion`	Determines whether the command will block subsequent commands (`waitForCompletion=true`) or allow immediate execution (`waitForCompletion=false`). If unspecified, the default for the `waitForCompletion` parameter is `waitForCompletion=true`.

Devuelve: Un valor booleano que representa si la transmisión ha alcanzado la distancia objetivo.

// Drive the drivetrain for 10 inches.
Drivetrain.driveFor(10, inches);

The driveFor(dir, distance, units, waitForCompletion) method is used to drive the drivetrain in a specified direction for a specified distance at the default velocity.

Parámetros	Descripción
`dir`	A valid `directionType`.
`distance`	La distancia que debe recorrer el tren motriz.
`units`	A valid `distanceUnit`. The default is `inches`.
`waitForCompletion`	Determines whether the command will block subsequent commands (`waitForCompletion=true`) or allow immediate execution (`waitForCompletion=false`). If unspecified, the default for the `waitForCompletion` parameter is `waitForCompletion=true`.

Devuelve: Un valor booleano que representa si la transmisión ha alcanzado la distancia objetivo.

// Drive the drivetrain forward for 10 inches.
Drivetrain.driveFor(forward, 10, inches);

The driveFor(distance, units, velocity, units_v, waitForCompletion) method is used to drive the drivetrain for a specified distance at the default velocity.

Parámetros	Descripción
`distance`	La distancia que debe recorrer el tren motriz.
`units`	A valid `distanceUnit`. The default is `inches`.
`velocity`	The velocity the drivetrain will move with. The default velocity set by the `setDriveVelocity()` method will be used if not provided.
`units_v`	A valid `velocityUnit`. The default is `rpm`.
`waitForCompletion`	Determines whether the command will block subsequent commands (`waitForCompletion=true`) or allow immediate execution (`waitForCompletion=false`). If unspecified, the default for the `waitForCompletion` parameter is `waitForCompletion=true`.

Devuelve: Un valor booleano que representa si la transmisión ha alcanzado la distancia objetivo.

// Drive the drivetrain for 10 inches at 100 rpm.
Drivetrain.driveFor(10, inches, 100, rpm);

The driveFor(dir, distance, units, velocity, units_v, waitForCompletion) method is used to drive the drivetrain for a specified distance at the default velocity.

Parámetros	Descripción
`dir`	A valid `directionType`.
`distance`	La distancia que debe recorrer el tren motriz.
`units`	A valid `distanceUnit`. The default is `inches`.
`velocity`	The velocity the drivetrain will move with. The default velocity set by the `setDriveVelocity()` method will be used if not provided.
`units_v`	A valid `velocityUnit`. The default is `rpm`.
`waitForCompletion`	Determines whether the command will block subsequent commands (`waitForCompletion=true`) or allow immediate execution (`waitForCompletion=false`). If unspecified, the default for the `waitForCompletion` parameter is `waitForCompletion=true`.

Devuelve: Un valor booleano que representa si la transmisión ha alcanzado la distancia objetivo.

// Drive the drivetrain forward for 10 inches at 100 rpm.
Drivetrain.driveFor(forward, 10, inches, 100, rpm);

turn()#

Este es un método sin espera y permite que el siguiente método se ejecute sin demora.

Este método se llama de las siguientes maneras:

The turn(dir) method is used to turn the robot in a specified direction at the default velocity as specified by the setTurnVelocity() method, until another drivetrain movement method is used, or the project is stopped.

Parámetros	Descripción
`dir`	A valid `directionType`.

Devoluciones: Ninguna.

// Turn the drivetrain right.
Drivetrain.turn(right);

The turn(dir, velocity, units) method is used to turn the robot in a specified direction at a specified velocity, until another drivetrain movement method is used, or the project is stopped.

Parámetros	Descripción
`dir`	A valid `directionType`.
`velocity`	The velocity at which the drivetrain will turn. The default velocity set by The `setTurnVelocity()` method will be used if not provided.
`units`	A valid `velocityUnit`. The default is `rpm`.

Devoluciones: Ninguna.

// Turn the drivetrain right at 100 rpm.
Drivetrain.turn(right, 100, rpm);

turnFor()#

This can be a waiting or non-waiting method depending on if the waitForCompletion parameter is used.

Este método se llama de las siguientes maneras:

The turnFor(angle, units, waitForCompletion) turns the drivetrain for a specified angle or rotations at the default velocity as specified by the setTurnVelocity() method.

Parámetros	Descripción
`angle`	El ángulo en el que debe girar la transmisión.
`units`	A valid `rotationUnit`. The default is `degrees`.
`waitForCompletion`	Determines whether the command will block subsequent commands (`waitForCompletion=true`) or allow immediate execution (`waitForCompletion=false`). If unspecified, the default for the `waitForCompletion` parameter is `waitForCompletion=true`.

Devuelve: Un valor booleano que representa si la transmisión ha girado al ángulo objetivo.

// Turn the drivetrain for 90 degrees.
Drivetrain.turnFor(90, degrees);

The turnFor(dir, angle, units, waitForCompletion) turns the drivetrain left or right for a specified angle or rotations at the default velocity as specified by the setTurnVelocity() method.

Parámetros	Descripción
`dir`	A valid `directionType`.
`angle`	El ángulo en el que debe girar la transmisión.
`units`	A valid `rotationUnit`. The default is `degrees`.
`waitForCompletion`	Determines whether the command will block subsequent commands (`waitForCompletion=true`) or allow immediate execution (`waitForCompletion=false`). If unspecified, the default for the `waitForCompletion` parameter is `waitForCompletion=true`.

Devuelve: Un valor booleano que representa si la transmisión ha girado al ángulo objetivo.

// Turn the drivetrain right for 90 degrees.
Drivetrain.turnFor(right, 90, degrees);

The turnFor(angle, units, velocity, units_v, waitForCompletion) turns the drivetrain for a specified angle or rotations at a specified velocity.

Parámetros	Descripción
`angle`	El ángulo en el que debe girar la transmisión.
`units`	A valid `rotationUnit`. The default is `degrees`.
`velocity`	The velocity at which the drivetrain will turn. The default velocity set by The `setTurnVelocity()` method will be used if not provided.
`units_v`	A valid `velocityUnit`. The default is `rpm`.
`waitForCompletion`	Determines whether the command will block subsequent commands (`waitForCompletion=true`) or allow immediate execution (`waitForCompletion=false`). If unspecified, the default for the `waitForCompletion` parameter is `waitForCompletion=true`.

Devuelve: Un valor booleano que representa si la transmisión ha girado al ángulo objetivo.

// Turn the drivetrain for 90 degrees at 100 rpm.
Drivetrain.turnFor(90, degrees, 100, rpm);

The turnFor(dir, angle, units, velocity, units_vwaitForCompletion) turns the drivetrain left or right for a specified angle or rotations at a specified velocity.

Parámetros	Descripción
`dir`	A valid `directionType`.
`angle`	El ángulo en el que debe girar la transmisión.
`units`	A valid `rotationUnit`. The default is `degrees`.
`velocity`	The velocity at which the drivetrain will turn. The default velocity set by The `setTurnVelocity()` method will be used if not provided.
`units_v`	A valid `velocityUnit`. The default is `rpm`.
`waitForCompletion`	Determines whether the command will block subsequent commands (`waitForCompletion=true`) or allow immediate execution (`waitForCompletion=false`). If unspecified, the default for the `waitForCompletion` parameter is `waitForCompletion=true`.

Devuelve: Un valor booleano que representa si la transmisión ha girado al ángulo objetivo.

// Turn the drivetrain right for 90 degrees at 100 rpm.
Drivetrain.turnFor(right, 90, degrees, 100, rpm);

stop()#

Este es un comando sin espera y permite que el siguiente comando se ejecute sin demora.

Este método se llama de las siguientes maneras:

The stop() command is used to stop the drivetrain, setting the drivetrain to 0 velocity and configuring the current stopping mode. The default Brake Type is coast, unless previously changed using the setStopping() command.

Devoluciones: Ninguna.

// Spin Drivetrain for 2.5 seconds.
Drivetrain.spin(forward);

wait(2.5 seconds);

// Stop Drivetrain.
Drivetrain.stop();

The stop(mode) command is used to stop the drivetrain using a specific Brake Type.

Parámetros	Descripción
`mode`	A valid `brakeType`.

Devoluciones: Ninguna.

// Spin Drivetrain for 2.5 seconds.
Drivetrain.spin(forward);

wait(2.5 seconds);

// Stop Drivetrain using the hold Brake Type.
Drivetrain.stop(hold);

isMoving()#

The isMoving() command returns if any drivetrain motor is on and rotating to a specific target.

Returns: true if any drivetrain motor is on and rotating to a target. false if it they are done rotating to a target.

isDone()#

The isDone() command returns if all drivetrain motors are done rotating to a specific target.

Returns: true if the all drivetrain motors are done rotating to a target. false if any drivetrain motor is on and rotating to a target.

setDriveVelocity()#

The setDriveVelocity(velocity, units) method is used to set the default velocity for the Drivetrain. This velocity setting affects all subsequent drive method unless a specific velocity is provided in those method.

Parámetros	Descripción
`velocity`	La nueva velocidad que se establecerá como predeterminada para el tren motriz.
`units`	A valid `velocityUnit` or `percent`. The default is `rpm`.

Devoluciones: Ninguna.

// Set the drivetrain to drive at a velocity of 200 rpm.
Drivetrain.setDriveVelocity(200, rpm);

setTurnVelocity()#

The setTurnVelocity(velocity, units) method is used to set the default velocity for turning maneuvers in the Drivetrain. This setting specifies the speed at which the drivetrain will execute turning method unless overridden by a specific velocity in those method.

Parámetros	Descripción
`velocity`	La nueva velocidad que se establecerá como predeterminada para las maniobras de giro.
`units`	A valid `velocityUnit` or `percent`. The default is `rpm`.

Devoluciones: Ninguna.

// Set the drivetrain to turn at a velocity of 200 RPM.
Drivetrain.setTurnVelocity(200, rpm);

setStopping()#

The setStopping(mode) method is used to set the stopping mode for all motors on the Drivetrain. This setting determines the behavior of the motors when they receive a stop method or when the velocity is set to zero.

Parámetros	Descripción
`mode`	A valid `brakeType`.

Devoluciones: Ninguna.

// Set the stopping mode to BRAKE.
Drivetrain.setStopping(brake);

setGearRatio()#

The setGearRatio(mode) method is used to set the gear ratio for all motors on the Drivetrain.

Parámetros	Descripción
`mode`	A valid `gearSetting`.

Devoluciones: Ninguna.

setTimeout()#

The Drivetrain.setTimeout(time, units) method is used to set the timeout value for all motors on the Drivetrain. This setting determines how long the drivetrain will attempt to execute driveFor or turnFor method before timing out if the motors have not completed their movements.

Parámetros	Descripción
`timeout`	La duración del tiempo de espera que se establecerá como predeterminada para las operaciones del tren motriz.
`units`	A valid `timeUnit` type. The default is `msec`.

Devoluciones: Ninguna.

// Set the timeout for the drivetrain to 10 seconds.
Drivetrain.setTimeout(10, seconds);

velocity()#

The velocity(units) method returns the average velocity of the drivetrain.

Parámetros	Descripción
`units`	A valid `velocityUnit` or `percent`. The default is `rpm`.

Devuelve: Un doble que representa la velocidad del tren motriz en las unidades especificadas.

current()#

The current() method returns the average current of the drivetrain.

Parámetros	Descripción
`units`	The only valid units for current are `amp` or `percent`.

Devuelve: Un doble que representa la corriente del tren motriz en las unidades especificadas.

voltage()#

The voltage(units) method returns the average velocity of the drivetrain.

Parámetros	Descripción
`units`	A valid `voltageUnit`. The default is `volt`.

Devuelve: Un doble que representa el voltaje del tren motriz en las unidades especificadas.

power()#

The power(units) method returns the average power of the drivetrain .

Parámetros	Descripción
`units`	The only valid unit for power is `watt`.

Devuelve: Un doble que representa la potencia del tren motriz en las unidades especificadas.

torque()#

The torque(units) method returns the average torque of the drivetrain.

Parámetros	Descripción
`units`	A valid `torqueUnit`. The default is `Nm`.

Devuelve: Un doble que representa el torque del tren motriz en las unidades especificadas.

efficiency()#

The efficiency(units) method returns the average efficiency of the drivetrain.

Parámetros	Descripción
`units`	The only valid unit for efficiency is `percent`.

Devuelve: Un doble que representa la eficiencia del tren motriz en las unidades proporcionadas.

temperature()#

The temperature(units) method returns the average temperature of the drivetrain.

Parámetros	Descripción
`units`	The only valid unit for temperature is `percent`.

Devuelve: Un doble que representa la temperatura del tren motriz en las unidades proporcionadas.