SmartDrive#

Inicialización de la clase SmartDrive #

Un SmartDrive se crea utilizando el siguiente constructor:

SmartDrive(lm, rm, g, wheelTravel, trackWidth, wheelBase, units, externalGearRatio)

Este constructor utiliza ocho parámetros:

Parámetro	Descripción
`lm`	El nombre del Motor o Grupo Motor izquierdo.
`rm`	El nombre del Motor o Grupo Motor derecho.
`g`	El nombre del Sensor inercial o Sensor giroscópico.
`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, Grupos de motores, Sensores inerciales y/o Sensores giroscópicos deben crearse primero antes de que puedan usarse para crear un objeto con el constructor de la clase SmartDrive.

# Create the Inertial Sensor.
brain_inertial = Inertial()
# 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 Smart Drivetrain "drivetrain" with the
# DriveTrain class.
smartdrive = SmartDrive(left_motor, right_motor, brain_inertial, 319.19, 295, 40, MM, 1)

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

# Create the Inertial Sensor.
brain_inertial = Inertial()
# 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.
smartdrive = SmartDrive(left_motors, right_motors, brain_inertial, 319.19, 295, 40, MM, 1)

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

Para crear un objeto DriveTrain sin un Sensor inercial o Sensor giroscópico, utilice el constructor de clase DriveTrain.

Métodos de clase #

drive()#

The drive(direction, velocity, units) method is used to drive the Smart 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 `drivetrain.set_velocity()` method will be used.
unidades	Optional. A valid VelocityUnits type. The default is `RPM`.

Devoluciones: Ninguna.

# Drive the Smart Drivetrain forward.
smartdrive.drive(FORWARD)

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

drive_for()#

The drive_for(direction, distance, units, velocity, units_v, wait) method is used to drive the Smart 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 `drivetrain.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.
smartdrive.drive_for(FORWARD, 10)

turn()#

The turn(direction, velocity, units) method is used to turn the Smart 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 `drivetrain.set_turn_velocity()` method will be used if not provided.
unidades	Optional. A valid VelocityUnits type. The default is `RPM`.

Devoluciones: Ninguna.

# Turn the Smart Drivetrain to the right.
smartdrive.turn(RIGHT)

# Turn the Smart Drivetrain to the left at 25% velocity.
smartdrive.turn(LEFT, 25, PERCENT)

turn_to_heading()#

The turn_to_heading(angle, units, velocity, units_v, wait) method turns the Smart Drivetrain to a specific heading.

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

Parámetros	Descripción
ángulo	El ángulo de rumbo hacia el cual girar.
unidades	Optional. A valid RotationUnits type. The default is `DEGREES`.
velocidad	Opcional. Gire los motores del smartdrive usando esta velocidad.
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 to heading 180 degrees.
smartdrive.turn_to_heading(180)

turn_to_rotation()#

The turn_to_rotation(angle, units, velocity, units_v, wait) method turns the Smart Drivetrain to a specific rotation.

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

Parámetros	Descripción
ángulo	El ángulo de rotación al que girar.
unidades	Optional. A valid RotationUnits type. The default is `DEGREES`.
velocidad	Opcional. Gire los motores del Smart Drivetrain usando esta velocidad.
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 to rotation 180 degrees.
smartdrive.turn_to_rotation(180)

turn_for()#

The turn_for(angle, units, velocity, units_v, wait) method turns the Smart Drivetrain for a specified angle.

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

Parámetros	Descripción
ángulo	El ángulo hacia el que girar.
unidades	Optional. A valid RotationUnits type. The default is `DEGREES`.
velocidad	Opcional. Gire los motores del Smart Drivetrain usando esta velocidad.
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 for 180 degrees.
smartdrive.turn_for(180)

stop()#

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

Devoluciones: Ninguna.

# Stop the Smart Drivetrain.
smartdrive.stop()

The set_drive_velocity(velocity, units) method is used to set the default velocity for the Smart 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 Smart Drivetrain.
unidades	Optional. A valid VelocityUnits type. The default is `RPM`.

Devoluciones: Ninguna.

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

# Set the Smart Drivetrain to drive at a velocity of
# 100 PERCENT.
smartdrive.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 Smart Drivetrain. This setting specifies the speed at which the Smart 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 Smart Drivetrain to turn at a velocity of
# 200 RPM.
smartdrive.set_turn_velocity(200)

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

set_stopping()#

The set_stopping(mode) method is used to set the stopping mode for all Motors on the Smart 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.
smartdrive.set_stopping(BRAKE)

set_turn_threshold()#

The set_turn_threshold(value) method sets the turn threshold for the Smart Drivetrain. The threshold value is used to determine that turns are complete. If this is too large, then turns will not be accurate. If too small, then turns may not complete.

Parámetros	Descripción
valor	The new turn threshold in `DEGREES`. The default for a Smart Drivetrain is 1 degree.

Devoluciones: Ninguna.

set_turn_constant()#

The set_turn_constant(value) method sets the turn constant for the Smart Drivetrain. The Smart Drivetrain uses a simple P controller when doing turns. This constant, generally known as kp, is the gain used in the equation that turns angular error into motor velocity.

Parámetros	Descripción
valor	La nueva constante de giro está en el rango de 0,1 a 4,0. El valor predeterminado es 1,0.

Devoluciones: Ninguna.

set_turn_direction_reverse()#

The set_turn_direction_reverse(value) method sets the expected turn direction for positive heading change.

Parámetros	Descripción
valor	Un valor booleano para establecer si la dirección se invierte o no.

Devoluciones: Ninguna.

set_heading()#

The set_heading(value, units) method sets the heading for the Smart Drivetrain.

Parámetros	Descripción
valor	El nuevo valor a utilizar para el encabezado.
unidades	Optional. A valid RotationUnits type. The default is `DEGREES`.

Devoluciones: Ninguna.

# Set the value of heading to 180 degrees.
smartdrive.set_heading(180)

heading()#

The heading(units) method returns the current heading of the Smart Drivetrain.

Parámetros	Descripción
unidades	Optional. A valid RotationUnits type. The default is `DEGREES`.

Devuelve: El rumbo actual del Smart Drivetrain en las unidades especificadas.

# Get the current heading for the Smart Drivetrain.
value = smartdrive.heading()

set_rotation()#

The set_rotation() method sets the rotation for the Smart Drivetrain.

Parámetros	Descripción
valor	El nuevo valor a utilizar para la rotación.
unidades	Optional. A valid RotationUnits type. The default is `DEGREES`.

Devoluciones: Ninguna.

# Set the value of rotation to 180 degrees.
smartdrive.set_rotation(180)

rotation()#

The rotation(units) method returns the current rotation of the Smart Drivetrain.

Parámetros	Descripción
unidades	Optional. A valid RotationUnits type. The default is `DEGREES`.

Devuelve: La rotación actual del Smart Drivetrain en las unidades especificadas.

# Get the current rotation for the Smart Drivetrain.
value = smartdrive.rotation()

is_turning()#

The is_turning() method checks if the Smart Drivetrain is currently turning.

Returns: True if the Smart Drivetrain is currently turning. False if it is not currently turning.

is_moving()#

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

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

is_done()#

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

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

set_timeout()#

The set_timeout(timeout, units) method is used to set the timeout value for all motors on the Smart Drivetrain. This setting determines how long the Smart 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 Smart Drivetrain.
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 Smart Drivetrain to
# 1000 milliseconds.
drivetrain.set_timeout(1000)

obtener_tiempo_de_espera()#

The smartdrive.get_timeout() method gets the current timeout setting.

Devuelve: El tiempo actual después del cual expirará el tiempo de espera de un método Smart 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`.

Devoluciones: La velocidad del Smart Drivetrain 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`.

Devoluciones: La corriente del Smart Drivetrain en las unidades proporcionadas.

power()#

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

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

Devoluciones: La potencia del Smart Drivetrain en las unidades proporcionadas.

torque()#

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

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

Devoluciones: El torque del Smart Drivetrain 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 Smart Drivetrain 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 Smart Drivetrain en las unidades proporcionadas.