drivetrain#
Initializing the drivetrain Class#
Se crea un sistema de transmisión utilizando el siguiente constructor:
El constructor drivetrain crea un objeto drivetrain.
Parámetro |
Descripción |
|---|---|
|
The name of the Left Motor or Motor Group. |
|
The name of the Right Motor or Motor Group. |
|
Circunferencia de las ruedas motrices. El valor predeterminado es 300 mm. |
|
Ancho de vía del tren motriz. El valor predeterminado es 320 mm. |
|
Distancia entre ejes del tren motriz. El valor predeterminado es 320 mm. |
|
Una distanceUnit válida para las unidades en las que se especifican wheelTravel, trackWidth y wheelBase. El valor predeterminado es |
|
La relación de transmisión utilizada para compensar las distancias de conducción si se utilizan engranajes. |
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, 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, 1);
Este objeto “Drivetrain” se utilizará en todos los ejemplos posteriores a lo largo de esta documentación de API cuando se haga referencia a los métodos de la clase drivetrain.
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.
Class Methods#
drive()#
This is a non-waiting method and allows the next method to run without delay.
This method is called in the following ways:
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. |
Returns: None.
// 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. |
velocidad |
The velocity at which the drivetrain will move. |
unidades |
A valid velocityUnit. |
Returns: None.
// 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 wait parameter is used.
This method is called in the following ways:
The driveFor(distance, units, waitForCompletion) method is used to drive the drivetrain for a specified distance at the default velocity.
Parámetros |
Descripción |
|---|---|
distancia |
The distance for the drivetrain to move. |
unidades |
A valid distanceUnit. The default is |
waitForCompletion |
Determines whether the command will block subsequent commands ( |
Returns: A boolean value representing whether the drivetrain has reached the target distance.
// 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. |
distancia |
The distance for the drivetrain to move. |
unidades |
A valid distanceUnit. The default is |
waitForCompletion |
Determines whether the command will block subsequent commands ( |
Returns: A boolean value representing whether the drivetrain has reached the target distance.
// 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 |
|---|---|
distancia |
The distance for the drivetrain to move. |
unidades |
A valid distanceUnit. The default is |
velocidad |
The velocity the drivetrain will move with. The default velocity set by the |
unidades_v |
A valid velocityUnit. The default is |
waitForCompletion |
Determines whether the command will block subsequent commands ( |
Returns: A boolean value representing whether the drivetrain has reached the target distance.
// 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. |
distancia |
The distance for the drivetrain to move. |
unidades |
A valid distanceUnit. The default is |
velocidad |
The velocity the drivetrain will move with. The default velocity set by the |
unidades_v |
A valid velocityUnit. The default is |
waitForCompletion |
Determines whether the command will block subsequent commands ( |
Returns: A boolean value representing whether the drivetrain has reached the target distance.
// Drive the drivetrain forward for 10 inches at 100 rpm.
Drivetrain.driveFor(forward, 10, inches, 100, rpm);
turn()#
This is a non-waiting method and allows the next method to run without delay.
This method is called in the following ways:
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. |
Returns: None.
// 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. |
velocidad |
The velocity at which the drivetrain will turn. The default velocity set by The |
unidades |
A valid velocityUnit. The default is |
Returns: None.
// 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 wait parameter is used.
This method is called in the following ways:
The turnFor(angle, units, waitForCompletion) method is used to turn the drivetrain for a specific angle at the default velocity as specified by the setTurnVelocity() method.
Parámetros |
Descripción |
|---|---|
ángulo |
The angle for the drivetrain to turn. |
unidades |
A valid rotationUnit. The default is |
waitForCompletion |
Determines whether the command will block subsequent commands ( |
Returns: A boolean value representing whether the drivetrain has turned to the target angle.
// Turn the drivetrain for 90 degrees.
Drivetrain.turnFor(90, degrees);
The turnFor(dir, angle, units, waitForCompletion) method is used to turn the drivetrain for a specific angle at the default velocity as specified by the setTurnVelocity() method.
Parámetros |
Descripción |
|---|---|
dir |
A valid directionType. |
ángulo |
The angle for the drivetrain to turn. |
unidades |
A valid rotationUnit. The default is |
waitForCompletion |
Determines whether the command will block subsequent commands ( |
Returns: A boolean value representing whether the drivetrain has turned to the target angle.
// Turn the drivetrain right for 90 degrees.
Drivetrain.turnFor(right, 90, degrees);
The turnFor(angle, units, velocity, units_v, waitForCompletion) method is used to turn the drivetrain for a specific angle at a specified velocity.
Parámetros |
Descripción |
|---|---|
ángulo |
The angle for the drivetrain to turn. |
unidades |
A valid rotationUnit. The default is |
velocidad |
The velocity at which the drivetrain will turn. The default velocity set by The |
unidades_v |
A valid velocityUnit. The default is |
waitForCompletion |
Determines whether the command will block subsequent commands ( |
Returns: A boolean value representing whether the drivetrain has turned to the target angle.
// Turn the drivetrain for 90 degrees at 100 rpm.
Drivetrain.turnFor(90, degrees, 100, rpm);
The turnFor(dir angle, units, velocity, units_v, waitForCompletion) method is used to turn the drivetrain for a specific angle at a specified velocity.
Parámetros |
Descripción |
|---|---|
dir |
A valid directionType. |
ángulo |
The angle for the drivetrain to turn. |
unidades |
A valid rotationUnit. The default is |
velocidad |
The velocity at which the drivetrain will turn. The default velocity set by The |
unidades_v |
A valid velocityUnit. The default is |
waitForCompletion |
Determines whether the command will block subsequent commands ( |
Returns: A boolean value representing whether the drivetrain has turned to the target angle.
// Turn the drivetrain right for 90 degrees at 100 rpm.
Drivetrain.turnFor(right, 90, degrees, 100, rpm);
stop()#
This is a non-waiting command and allows the next command to run without delay.
This method is called in the following ways:
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.
Returns: None.
// 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 |
|---|---|
modo |
A valid brakeType. |
Returns: None.
// 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 |
|---|---|
velocidad |
The new velocity to set as default for the Drivetrain. |
unidades |
A valid velocityUnit or |
Returns: None.
// 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 |
|---|---|
velocidad |
The new velocity to set as default for turning maneuvers. |
unidades |
A valid velocityUnit or |
Returns: None.
// 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 |
|---|---|
modo |
A valid brakeType. |
Returns: None.
// 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 |
|---|---|
modo |
A valid gearSetting. |
Returns: None.
setTimeout()#
The 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 |
The timeout duration to set as default for drivetrain operations. |
unidades |
A valid timeUnit type. The default is |
Returns: None.
// 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 |
|---|---|
unidades |
A valid velocityUnit or |
Returns: A double representing the drivetrain velocity in the specified units.
current()#
The current() method returns the average current of the drivetrain.
Parámetros |
Descripción |
|---|---|
unidades |
The only valid units for current are |
Returns: A double representing the drivetrain current in the specified units.
power()#
The power(units) method returns the average power of the drivetrain .
Parámetros |
Descripción |
|---|---|
unidades |
La única unidad válida para potencia es el “vatio”. |
Returns: A double representing the drivetrain power in the specified units.
torque()#
The torque() method returns the average torque of the drivetrain.
Parámetros |
Descripción |
|---|---|
unidades |
A valid torqueUnit. The default is |
Returns: A double representing the drivetrain torque in the specified units.
efficiency()#
The efficiency() method returns the average efficiency of the drivetrain.
Parámetros |
Descripción |
|---|---|
unidades |
La única unidad válida para la eficiencia es el “porcentaje”. |
Returns: A double representing the drivetrain efficiency in the provided units.