Tren motriz#

Inicializando la clase DriveTrain #

Un DriveTrain se crea utilizando el siguiente constructor:

DriveTrain(lm, rm, wheelTravel, trackWidth, wheelBase, units, externalGearRatio)

Este constructor utiliza siete parámetros:

Parámetro	Descripción
`lm`	El nombre del Motor o Grupo Motor izquierdo.
`rm`	El nombre del Motor o Grupo Motor derecho.
`wheelTravel`	Opcional. La circunferencia de las ruedas motrices. El valor predeterminado es 300 mm.
`trackWidth`	Opcional. Ancho de vía del tren motriz. El valor predeterminado es 320 mm.
`wheelBase`	Opcional. La distancia entre ejes del tren motriz. El valor predeterminado es 320 mm.
`units`	Optional. A valid DistanceUnit for the units that wheelTravel, trackWidth and wheelBase are specified in. The default is `MM`.
`externalGearRatio`	Opcional. La relación de transmisión se utiliza para compensar las distancias de conducción si se utilizan engranajes.

Los Motores y/o los Grupos de motores deben crearse primero antes de poder usarse para crear un objeto con el constructor de la clase DriveTrain.

# Create the Motors.
left_motor = Motor(Ports.PORT1, GearSetting.RATIO_18_1, False)
right_motor = Motor(Ports.PORT2, GearSetting.RATIO_18_1, True)
# Construct a 2-Motor Drivetrain "drivetrain" with the
# DriveTrain class.
drivetrain = DriveTrain(left_motor, right_motor, 319.19, 295, 40, MM, 1)

Si va a crear un sistema de transmisión con varios motores, deberá crear los Motores por separado antes de agruparlos en un Grupo de motores.

# Create the left Motors and group them under the
# MotorGroup "left_motors".
left_motor_a = Motor(Ports.PORT1, GearSetting.RATIO_18_1, False)
left_motor_b = Motor(Ports.PORT2, GearSetting.RATIO_18_1, False)
left_motors = MotorGroup(left_motor_a, left_motor_b)
# Create the right Motors and group them under the
# MotorGroup "right_motors".
right_motor_a = Motor(Ports.PORT3, GearSetting.RATIO_18_1, True)
right_motor_b = Motor(Ports.PORT4, GearSetting.RATIO_18_1, True)
right_motors = MotorGroup(right_motor_a, right_motor_b)
# Construct a 4-Motor Drivetrain "drivetrain" with the
# DriveTrain class.
drivetrain = DriveTrain(left_motors, right_motors, 319.19, 295, 40, MM, 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()#

The drive(direction, velocity, units) method is used to drive the Drivetrain in the specified direction forever, until another Drivetrain method is used, or the project is stopped.

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

Parámetros	Descripción
dirección	Un DirectionType válido.
velocidad	Optional. The velocity at which the Drivetrain will move. The default velocity set by The `set_velocity()` method will be used.
unidades	Optional. A valid VelocityUnits type. The default is `RPM`.

Devoluciones: Ninguna.

# Drive the Drivetrain forward.
drivetrain.drive(FORWARD)

# Drive the Drivetrain in reverse for 100 percent velocity.
drivetrain.drive(REVERSE, 100, PERCENT)

drive_for()#

The drive_for(direction, distance, units, velocity, units_v, wait) method is used to drive the Drivetrain a given distance.

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

Parámetros	Descripción
dirección	Un DirectionType válido.
distancia	La distancia que debe recorrer el tren motriz.
unidades	Optional. A valid DistanceUnits type. The default is `INCHES`.
velocidad	Optional. The velocity the Drivetrain will move with. The default velocity set by The `set_drive_velocity()` method will be used if not provided.
unidades_v	Optional. A valid VelocityUnits type. The default is `RPM`.
esperar	Optional. The wait parameter determines whether the method will block subsequent method (`wait=True`) or allow immediate execution (`wait=False`). If unspecified, the default for The `wait` parameter is `wait=True`.

Devoluciones: Ninguna.

# Drive forward for 10 inches.
drivetrain.drive_for(FORWARD, 10)

turn()#

The turn(direction, velocity, units) method is used to turn the Drivetrain either left or right.

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

Parámetros	Descripción
dirección	Un TurnType válido.
velocidad	Optional. The velocity at which the Drivetrain will turn. The default velocity set by The `set_turn_velocity()` method will be used if not provided.
unidades	Optional. A valid VelocityUnits type. The default is `RPM`.

Devoluciones: Ninguna.

# Turn the Drivetrain to the right.
drivetrain.turn(RIGHT)

# Turn the Drivetrain to the left at 25 percent velocity.
drivetrain.turn(LEFT, 25, PERCENT)

turn_for()#

The turn_for(direction, angle, units, velocity, units_v, wait) turns the drivetrain left or right for a specified angle or rotations.

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

Parámetros	Descripción
dirección	Un TurnType válido.
ángulo	El ángulo en el que debe girar la transmisión.
unidades	Optional. A valid RotationUnits type. The default is `DEGREES`.
velocidad	Optional. The velocity at which the Drivetrain will turn. The default velocity set by The `set_turn_velocity()` method will be used if not provided.
unidades_v	Optional. A valid VelocityUnits type. The default is `RPM`.
esperar	Optional. The wait parameter determines whether the method will block subsequent method (`wait=True`) or allow immediate execution (`wait=False`). If unspecified, the default for The `wait` parameter is `wait=True`.

Devoluciones: Ninguna.

# Turn right for 90 degrees.
drivetrain.turn_for(RIGHT, 90)

stop()#

The stop() method is used to stop the Drivetrain, setting it to 0 velocity and configuring the current stopping mode.

Devoluciones: Ninguna.

# Stop the Drivetrain.
drivetrain.stop()

is_moving()#

The is_moving() method checks if the Drivetrain is currently moving.

Returns: True if the Drivetrain is currently moving. False if the Drivetrain is not currently moving.

is_done()#

The is_done() method checks if the Drivetrain is not currently moving.

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

Returns: True if the Drivetrain is not currently moving. False if the Drivetrain is currently moving.

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

Parámetros	Descripción
velocidad	La nueva velocidad que se establecerá como predeterminada para el tren motriz.
unidades	Optional. A valid VelocityUnits type. The default is `RPM`.

Devoluciones: Ninguna.

# Set the Drivetrain to drive at a velocity of 200 RPM.
drivetrain.set_drive_velocity(200)

# Set the Drivetrain to drive at a velocity of 100 PERCENT.
drivetrain.set_drive_velocity(100, PERCENT)

set_turn_velocity()#

The set_turn_velocity(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
velocidad	La nueva velocidad que se establecerá como predeterminada para las maniobras de giro.
unidades	Optional. A valid VelocityUnits type. The default is `RPM`, unless previously changed using The `drivetrain.set_turn_velocity()` method.

Devoluciones: Ninguna.

# Set the Drivetrain to turn at a velocity of 200 RPM.
drivetrain.set_turn_velocity(200)

# Set the Drivetrain to turn at a velocity of 100 PERCENT.
drivetrain.set_turn_velocity(100, PERCENT)

set_stopping()#

The set_stopping(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
modo	A valid BrakeType. The default is `COAST`, unless previously changed using the `drivetrain.set_stopping()` method.

Devoluciones: Ninguna.

# Set the stopping mode to BRAKE.
drivetrain.set_stopping(BRAKE)

set_timeout()#

The set_timeout(timeout, 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 drive_for and turn_for method before timing out if the motors have not completed their movements.

Parámetros	Descripción
se acabó el tiempo	La duración del tiempo de espera que se establecerá como predeterminada para las operaciones de transmisión.
unidades	Optional. A valid TimeUnits type. The default is `MSEC`, unless previously changed using the `set_timeout()` method.

Devoluciones: Ninguna.

# Set the timeout for the Drivetrain to 1000 milliseconds.
drivetrain.set_timeout(1000)

# Set the timeout for the Drivetrain to 2 seconds.
drivetrain.set_timeout(2, SECONDS)

get_timeout()#

The get_timeout() method gets the current timeout setting.

Devuelve: El tiempo actual después del cual se agotará el tiempo de espera de un método Drivetrain.

velocity()#

The velocity() method returns the average velocity of the left and right motors.

Parámetros	Descripción
unidades	Optional. A valid VelocityUnits type. The default is `RPM`.

Devuelve: La velocidad del tren motriz en las unidades proporcionadas.

current()#

The current() method returns the average current of the left and right motors.

Parámetros	Descripción
unidades	Optional. The only valid unit for current is `AMP`.

Devuelve: La corriente del tren motriz en las unidades proporcionadas.

power()#

The power() method returns the total power all Drivetrain motors are using.

Parámetros	Descripción
unidades	Optional. The only valid unit for power is `WATT`.

Devoluciones: La potencia del tren motriz en las unidades proporcionadas.

torque()#

The torque() method returns the total torque of all Drivetrain motors.

Parámetros	Descripción
unidades	Optional. A valid TorqueUnits type. The default is `NM`.

Devoluciones: El torque del tren motriz en las unidades proporcionadas.

efficiency()#

The efficiency() method returns the average efficiency of the left and right motors.

Parámetros	Descripción
unidades	Optional. The only valid unit for efficiency is `PERCENT`.

Devoluciones: La eficiencia del tren motriz en las unidades proporcionadas.

temperature()#

The temperature() method returns the average temperature of the left and right motors.

Parámetros	Descripción
unidades	Optional. A valid TemperatureUnits type. The default is `CELSIUS`.

Devoluciones: La temperatura del tren motriz en las unidades proporcionadas.