Transmisión#

Introducción#

El tren motriz controla el movimiento de un robot, permitiéndole avanzar, girar y detenerse con precisión.

También puede funcionar como un sistema de transmisión inteligente cuando se configura con un sensor giroscópico o un sensor inercial cerebral.

For the examples below, the configured drivetrain will be named Drivetrain and will be used in all subsequent examples throughout this API documentation when referring to drivetrain and smartdrive class methods.

A continuación se muestra una lista de todos los métodos:

Acciones: Mover y girar el robot.

  • drive – Moves the drivetrain in a specified direction indefinitely.

  • driveFor – Moves the drivetrain in a specified direction for a set distance.

  • turn – Turns the drivetrain left or right indefinitely.

  • turnFor – Turns the drivetrain left or right for a set distance.

  • turnToHeading – Turns a smart drivetrain to a specified heading.

  • turnToRotation – Turns a smart drivetrain to a specified rotational value.

  • stop – Stops a drivetrain.

  • calibrateDrivetrain – Calibrates the drivetrain.

Mutadores: establecen velocidades de movimiento y giro predeterminadas.

Getters – Devuelven el estado y la posición del robot.

  • isDone – Returns whether a drivetrain is not currently moving.

  • isMoving – Returns whether a drivetrain is currently moving.

  • heading – Returns the current heading of a smart drivetrain.

  • rotation – Returns the current rotational value of a smart drivetrain.

  • velocity – Returns the current velocity of a drivetrain.

  • current – Returns the current current of a drivetrain.

  • power – Returns the average power of the smart drivetrain.

  • torque – Returns the average torque of the drivetrain.

  • efficiency – Returns the average efficiency of the drivetrain.

  • temperature – Returns the average temperature of the drivetrain.

Constructores: inicializan y configuran manualmente la transmisión.

  • drivetrain – Creates a basic drivetrain.

  • smartdrive – Creates a drivetrain configured with a Gyro Sensor or Brain Inertial Sensor.

Comportamiento#

drive#

drive moves the drivetrain in a specified direction indefinitely.

Default Usage:
Drivetrain.drive(direction);

Overload Usages:
Drivetrain.drive(direction, velocity, units);

Parámetros

Descripción

dirección

The direction in which to drive:

  • forward
  • reverse

velocidad

La velocidad a la que se moverá la transmisión, como valor de punto flotante o entero. Si no se especifica, la velocidad predeterminada es del 50 %.

unidades

The unit that represents the velocity:

  • velocityUnits::pct (Percent)
  • rpm (Rotations per minute)
  • dps (Degrees per second)

 
int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Drive forward, then stop
  Drivetrain.drive(forward);
  wait(2, seconds);
  Drivetrain.stop();
}

driveFor#

driveFor moves the drivetrain in a specified direction for a set distance.

Default Usage:
Drivetrain.driveFor(direction, distance, units, wait);

Overload Usages:
Drivetrain.driveFor(direction, distance, units, wait);
Drivetrain.driveFor(direction, distance, units, velocity, units_v, wait);
Drivetrain.driveFor(distance, units, wait);
Drivetrain.driveFor(distance, units, velocity, units_v, wait);

Parámetros

Descripción

dirección

The direction in which to drive:

  • forward
  • reverse

distancia

La distancia que la transmisión debe recorrer es el doble.

unidades

The unit that represents the distance:

  • mm – Millimeters
  • inches – Inches
  • cm – Centimeters

esperar

Optional.

  • true (default) – The project waits until driveFor is complete before executing the next line of code.
  • false - The project starts the action and moves on to the next line of code right away, without waiting for driveFor to finish.

velocidad

La velocidad a la que la transmisión se moverá como un doble. Si no se especifica, la velocidad predeterminada es del 50 %.

unidades_v

The unit that represents the velocity:

  • velocityUnits::pct (Percent)
  • rpm (Rotations per minute)
  • dps (Degrees per second)

 
int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Drive 200 mm, then back 200 mm
  Drivetrain.driveFor(forward, 200, mm);
  Drivetrain.driveFor(reverse, 200, mm);
}

turn#

turn turns the drivetrain left or right indefinitely.

Default Usage:
Drivetrain.turn(direction);

Overload Usages:
Drivetrain.turn(direction, velocity, units);

Parámetros

Descripción

dirección

The direction in which to turn:

  • left
  • right

velocidad

La velocidad a la que la transmisión girará en doble. Si no se especifica, la velocidad predeterminada es del 50 %.

unidades

The unit that represents the velocity:

  • velocityUnits::pct (Percent)
  • rpm (Rotations per minute)
  • dps (Degrees per second)

 
int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Turn right, then left, then stop
  Drivetrain.turn(right);
  wait(2, seconds);
  Drivetrain.turn(left);
  wait(2, seconds);
  Drivetrain.stop();
}

turnFor#

turnFor turns the drivetrain left or right for a set distance.

Default Usage:
Drivetrain.turnFor(direction, angle, units, wait);

Overload Usages:
Drivetrain.turnFor(direction, angle, units, velocity, units_v, wait);
Drivetrain.turnFor(angle, units, wait);
Drivetrain.turnFor(angle, units, velocity, units_v, wait);

Parámetros

Descripción

dirección

The direction in which to turn:

  • left
  • right

ángulo

La cantidad de grados que la transmisión girará como un doble.

unidades

The unit that represents the rotational value:

  • degrees
  • turns

velocidad

La velocidad a la que la transmisión girará en doble. Si no se especifica, la velocidad predeterminada es del 50 %.

unidades_v

The unit that represents the velocity:

  • velocityUnits::pct (Percent)
  • rpm (Rotations per minute)
  • dps (Degrees per second)

esperar

Optional.

  • true (default) – The project waits until turnFor is complete before executing the next line of code.
  • false - The project starts the action and moves on to the next line of code right away, without waiting for turnFor to finish.

 
int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Turn right then left
  Drivetrain.turnFor(right, 90, degrees);
  wait(1, seconds);
  Drivetrain.turnFor(left, 90, degrees);
}

turnToHeading#

turnToHeading turns a smart drivetrain to a specified heading.

Nota: Este método solo funcionará con una transmisión que haya sido configurada con un sensor giroscópico o un sensor inercial cerebral.

Default Usage:
Drivetrain.turnToHeading(angle, units, wait);

Overload Usages:
Drivetrain.turnToHeading(angle, units, velocity, units_v, wait);

Parámetros

Descripción

ángulo

El encabezado para girar la transmisión para que quede como un flotante o un entero.

unidades

The unit that represents the rotational value:

  • degrees
  • turns

velocidad

La velocidad a la que girará el motor o el grupo de motores, como valor de punto flotante o entero. Si no se especifica la velocidad, la predeterminada es del 50 %.

unidades_v

The unit that represents the velocity:

  • velocityUnits::pct (Percent)
  • rpm (Rotations per minute)
  • dps (Degrees per second)

esperar

Optional.

  • true (default) – The project waits until turnToHeading is complete before executing the next line of code.
  • false - The project starts the action and moves on to the next line of code right away, without waiting for turnToHeading to finish.

 
int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Face the cardinal directions
  Drivetrain.turnToHeading(90, degrees);
  wait(1, seconds);
  Drivetrain.turnToHeading(180, degrees);
  wait(1, seconds);
  Drivetrain.turnToHeading(270, degrees);
  wait(1, seconds);
  Drivetrain.turnToHeading(0, degrees);
}

turnToRotation#

turnToRotation turns a smart drivetrain to a specified rotational value.

Note: This method will only work with a drivetrain that has been configured with a Gyro Sensor or the Brain’s Inertial Sensor.

Default Usage:
Drivetrain.turnToRotation(angle, units, wait);

Overload Usages:
Drivetrain.turnToRotation(angle, units, velocity, units_v, wait);

Parámetros

Descripción

ángulo

The rotational value to turn the drivetrain to face as a float or integer.

unidades

The unit that represents the rotational value:

  • degrees
  • turns

velocidad

La velocidad a la que girará el motor o el grupo de motores, como valor de punto flotante o entero. Si no se especifica la velocidad, la predeterminada es del 50 %.

unidades_v

The unit that represents the velocity:

  • velocityUnits::pct (Percent)
  • rpm (Rotations per minute)
  • dps (Degrees per second)

esperar

Optional.

  • true (default) – The project waits until turnToRotation is complete before executing the next line of code.
  • false - The project starts the action and moves on to the next line of code right away, without waiting for turnToRotation to finish.

 
int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Turn left, then spin clockwise to face right
  Drivetrain.turnToRotation(-90, degrees);
  wait(1, seconds);
  Drivetrain.turnToRotation(450, degrees);
}

stop#

stop stops a drivetrain.

Default Usage:
Drivetrain.stop();

Overload Usages:
Drivetrain.stop(mode);

Parámetros

Descripción

modo

How the drivetrain will stop:

  • coast – Slows gradually to a stop.
  • brake – Stops immediately.
  • hold – Stops and resists movement using motor feedback.

 
int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Drive forward, then coast to a stop
  Drivetrain.setDriveVelocity(100, percent);
  Drivetrain.drive(forward);
  wait(2, seconds);
  Drivetrain.stop(coast);
}

calibrateDrivetrain#

calibrateDrivetrain calibrates the drivetrain.

This is a method generated by the VEXcode Robot Configuration when a Drivetrain is configured in the Devices window. It will not function outside of VEXcode IQ (2nd gen).

Note: The Brain will automatically calibrate at the start of each project.

Usage:
Drivetrain.calibrateDrivetrain();

Mutadores#

setDriveVelocity#

setDriveVelocity sets the default moving velocity for a drivetrain. This velocity setting will be used for subsequent calls to any drivetrain functions if a specific velocity is not provided.

Usage:
Drivetrain.setDriveVelocity(velocity, units);

Parámetros

Descripción

velocidad

La velocidad a la que el tren motriz se moverá como un doble.

unidades

The unit that represents the velocity:

  • percent (Percent)
  • rpm (Rotations per minute)
  • dps (Degrees per second)

 
int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Try default, slow, then fast
  Drivetrain.driveFor(forward, 150, mm);
  wait(1, seconds);
  Drivetrain.setDriveVelocity(20, percent);
  Drivetrain.driveFor(forward, 150, mm);
  wait(1, seconds);
  Drivetrain.setDriveVelocity(100, percent);
  Drivetrain.driveFor(forward, 150, mm);
}

setTurnVelocity#

setTurnVelocity sets the default turning velocity for a drivetrain. This velocity setting will be used for subsequent calls to any drivetrain functions if a specific velocity is not provided.

Usage:
Drivetrain.setTurnVelocity(velocity, units);

Parámetros

Descripción

velocidad

La velocidad a la que el tren motriz girará como un doble.

unidades

The unit that represents the velocity:

  • percent (Percent)
  • rpm (Rotations per minute)
  • dps (Degrees per second)

 
int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Try default, slow, then fast
  Drivetrain.turnFor(right, 360, degrees);
  wait(1, seconds);
  Drivetrain.setTurnVelocity(20, percent);
  Drivetrain.turnFor(right, 360, degrees);
  wait(1, seconds);
  Drivetrain.setTurnVelocity(100, percent);
  Drivetrain.turnFor(right, 360, degrees);
}

setStopping#

setStopping sets the stopping mode for a drivetrain.

Usage:
Drivetrain.setStopping(mode);

Parámetros

Descripción

modo

How the drivetrain will stop:

  • brake – Stops immediately.
  • coast – Slows gradually to a stop.
  • hold – Stops and resists movement using motor feedback.

setTimeout#

setTimeout sets a time limit for how long a drivetrain function will wait to reach its target. If the drivetrain cannot complete the movement within the set time, it will stop automatically and continue with the next function.

Nota: El límite de tiempo del tren motriz se utiliza para evitar que las funciones del tren motriz que no alcanzan su posición objetivo detengan la ejecución del resto del proyecto.

Usage:
Drivetrain.setTimeout(time, units);

Parámetros

Descripción

tiempo

El número máximo de segundos que una función de motor se ejecutará antes de detenerse y pasar a la siguiente función como un número entero.

unidades

The unit that represents the time:

  • seconds
  • msec – Milliseconds 

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Stop turning if drive took too long
  Drivetrain.setTimeout(1, seconds);
  Drivetrain.driveFor(forward, 25, inches);
  Drivetrain.turnFor(right, 90, degrees);
}

setHeading#

setHeading sets the heading of a smart drivetrain.

Nota: Este método solo funcionará con una transmisión que haya sido configurada con un sensor giroscópico o un sensor inercial cerebral.

Usage:
Drivetrain.setHeading(value, units);

Parámetros

Descripción

valor

El nuevo título como doble.

unidades

The unit that represents the heading:

  • degrees
  • turns

 
int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Set 0° to current right-facing
  Drivetrain.setHeading(90, degrees);
  Drivetrain.turnToHeading(0, degrees);
}

setRotation#

setRotation sets the rotation for the smart drivetrain.

Nota: Este método solo funcionará con una transmisión que haya sido configurada con un sensor giroscópico o un sensor inercial cerebral.

Usage:
Drivetrain.setRotation(value, units);

Parámetros

Descripción

valor

El nuevo valor rotacional como doble.

unidades

The unit that represents the rotation:

  • degrees
  • turns

 
int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Spin counterclockwise for 2 turns, then face forward
  Drivetrain.setRotation(720, degrees);
  Drivetrain.turnToRotation(0, degrees);
}

setGearRatio#

setGearRatio sets the gear ratio for all motors on the Drivetrain.

Usage:
Drivetrain.setGearRatio(mode);

Parámetros

Descripción

modo

Gear Ratio options:

  • ratio1_1 – A gear unit that is defined as 1:1 gearing.
  • ratio2_1 – A gear unit that is defined as 2:1 gearing.
  • ratio3_1 – A gear unit that is defined as 3:1 gearing.

 
int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Set 2:1 gear ratio
  Drivetrain.setGearRatio(ratio2_1);
}

setTurnThreshold#

setTurnThreshold method sets the turn threshold for the Smartdrive. 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.

Nota: Este método solo funcionará con una transmisión que haya sido configurada con un sensor giroscópico o un sensor inercial cerebral.

Usage:
Drivetrain.setTurnThreshold(t);

Parámetros

Descripción

el

The new turn threshold in degrees. The default for a Smart Drivetrain is 1 degree.

 
int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Increase turn tolerance to 5 degrees
  Drivetrain.setTurnThreshold(5);
}

setTurnConstant#

setTurnConstant method sets the turn constant for the Smartdrive. 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.

Nota: Este método solo funcionará con una transmisión que haya sido configurada con un sensor giroscópico o un sensor inercial cerebral.

Usage:
Drivetrain.setTurnConstant(kp);

Parámetros

Descripción

kp

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

 
int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Increase turn gain to 2.0
  Drivetrain.setTurnConstant(2.0);
}

setTurnDirectionReverse#

setTurnDirectionReverse method sets the expected turn direction for positive heading.

Nota: Este método solo funcionará con una transmisión que haya sido configurada con un sensor giroscópico o un sensor inercial cerebral.

Usage:
Drivetrain.setTurnDirectionReverse(value);

Parámetros

Descripción

valor

A Boolean value to set the reversed flag to true or false.

Captadores#

isDone#

isDone returns a Boolean indicating whether a drivetrain is not currently moving.

  • true – The drivetrain is not moving.

  • false – The drivetrain is moving.

Usage:
Drivetrain.isDone()

Parámetros

Descripción

Este método no tiene parámetros.

isMoving#

isMoving returns a Boolean indicating whether a drivetrain is currently moving.

  • true – The drivetrain is moving.

  • false – The drivetrain is not moving.

Usage:
Drivetrain.isMoving()

Parámetros

Descripción

Este método no tiene parámetros.

heading#

heading returns the current heading of a smart drivetrain as a double.

Nota: Este método solo funcionará con una transmisión que haya sido configurada con un sensor giroscópico o un sensor inercial cerebral.

Usage:
Drivetrain.heading(units)

Parámetros

Descripción

unidades

Optional. The unit that represents the rotational value:

  • degrees (default)
  • turns

 
int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Display heading after a long turn
  Drivetrain.turnFor(right, 450, degrees);
  Brain.Screen.print("Heading: %f", Drivetrain.heading(degrees));
}

rotation#

rotation returns the current rotational value of a smart drivetrain as a double.

Nota: Este método solo funcionará con una transmisión que haya sido configurada con un sensor giroscópico o un sensor inercial cerebral.

Usage:
Drivetrain.rotation(units)

Parámetros

Descripción

unidades

Optional. The unit that represents the rotational value:

  • degrees (default)
  • turns

 
int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Display rotation after a long turn
  Drivetrain.turnFor(right, 450, degrees);
  Brain.Screen.print("Rotation: %f", Drivetrain.rotation(degrees));
}

velocity#

velocity returns the current velocity of a drivetrain as a double.

Usage:
Drivetrain.velocity(units)

Parámetros

Descripción

unidades

The unit that represents the velocity:

  • percent
  • rpm – Rotations per minute
  • dps – Degrees per second

 
int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Show velocity before and during motion
  Brain.Screen.print("Resting: %f", Drivetrain.velocity(percent));
  Drivetrain.drive(forward, 100, velocityUnits::pct);
  wait(1, seconds);
  Brain.Screen.newLine();
  Brain.Screen.print("Moving: %f", Drivetrain.velocity(percent));
  Drivetrain.stop();
}

current#

current returns the drivetrain’s current as a double.

Usage:
Drivetrain.current(units)

Parámetros

Descripción

unidades

Optional. The unit that represents the current:

  • percent
  • amp (default)

power#

power(units) returns the average power of the Smart Drivetrain as a double.

Nota: Este método solo funcionará con una transmisión que haya sido configurada con un sensor giroscópico o un sensor inercial cerebral.

Usage:
Drivetrain.power(units)

Parámetros

Descripción

unidades

The only valid unit for power is watt.

torque#

torque returns the average torque of the Drivetrain as a double.

Nota: Este método solo funcionará con una transmisión que haya sido configurada con un sensor giroscópico o un sensor inercial cerebral.

Usage:
Drivetrain.torque(units)

Parámetros

Descripción

unidades

A valid torque Unit:

  • Nm (default) – A torque unit that is measured in newton meters.
  • InLb – A torque unit that is measured in inch pounds.

efficiency#

efficiency returns the average efficiency of the Drivetrain as a double.

Nota: Este método solo funcionará con una transmisión que haya sido configurada con un sensor giroscópico o un sensor inercial cerebral.

Usage:
Drivetrain.efficiency(units)

Parámetros

Descripción

unidades

The only valid unit for efficiency is percent.

temperature#

The temperature() method returns the average temperature of the Drivetrain as a double.

Usage:
Drivetrain.temperature(units)

Nota: Este método solo funcionará con una transmisión que haya sido configurada con un sensor giroscópico o un sensor inercial cerebral.

Parámetros

Descripción

unidades

The only valid unit for temperature is percent.

Constructores#

Drivetrain#

Se crea un sistema de transmisión utilizando el siguiente constructor:

The drivetrain constructor creates a drivetrain object.

Usage:
drivetrain(lm, rm, wheelTravel, trackWidth, wheelBase, unit, externalGearRatio);

Parámetro

Descripción

lm

El nombre del Motor o Grupo Motor izquierdo.

rm

El nombre del Motor o Grupo Motor derecho.

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.

unit

A valid distanceUnit for the units that wheelTravel, trackWidth and wheelBase are specified in. The default is MM.

externalGearRatio

La relación de transmisión utilizada 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.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Make left and right drive motors
  motor leftMotor = motor(PORT1, false);
  motor rightMotor = motor(PORT2, true);

  // Build a 2-motor drivetrain with those motors
  drivetrain Drivetrain = drivetrain(leftMotor, rightMotor,
                                     259.34, 320, 40, mm, 1);
}

Si va a fabricar un sistema de transmisión con 4 motores, deberá crear los Motores por separado antes de agruparlos en un Grupo de motores.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Make two motor groups for left and right motors
  motor leftA = motor(PORT1, false);
  motor leftB = motor(PORT2, false);
  motor_group leftGroup = motor_group(leftA, leftB);

  motor rightA = motor(PORT3, true);
  motor rightB = motor(PORT4, true);
  motor_group rightGroup = motor_group(rightA, rightB);

  // Build a 4-motor drivetrain with those motors
  drivetrain Drivetrain = drivetrain(leftGroup, rightGroup, 259.34, 320, 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.

Smartdrive#

Un sistema de transmisión inteligente se crea utilizando el siguiente constructor:

The smartdrive constructor creates a smartdrive object. This object can do everything a drivetrain can do but has additional methods that include use of an Inertial Sensor or Gyro in order to make more accurate turns.

Usage:
smartdrive(lm, rm, guido, wheelTravel, trackWidth, wheelBase, unit, externalGearRatio);

Parámetro

Descripción

lm

El nombre del Motor o Grupo Motor izquierdo.

rm

El nombre del Motor o Grupo Motor derecho.

guido

El nombre del dispositivo que se utiliza para detectar el ángulo o la orientación del robot. Puede ser cualquier Sensor inercial o Sensor giroscópico.

wheelTravel

Circunferencia de las ruedas motrices. El valor predeterminado es 300 mm.

trackWidth

Ancho de vía del sistema de propulsión inteligente. El valor predeterminado es 320 mm.

wheelBase

Distancia entre ejes del Smart Drivetrain. La distancia predeterminada es de 320 mm.

unit

A valid distanceUnit for the units that wheelTravel, trackWidth and wheelBase are specified in. The default is mm.

externalGearRatio

La relación de transmisión utilizada 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 clase smartdrive.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Create two motors
  motor leftMotor = motor(PORT1, false);
  motor rightMotor = motor(PORT2, true);

  // Create an Inertial sensor
  inertial Inertial = inertial(PORT3);

  // Build a 2-motor smartdrive with the Inertial Sensor
  smartdrive Smartdrive = smartdrive(leftMotor, rightMotor, Inertial, 259.34, 320, 40, mm, 1);
}

Si va a fabricar un sistema de transmisión inteligente de 4 motores, deberá crear los Motores por separado antes de agruparlos en un Grupo de motores.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Make two motor groups for left and right motors
  motor leftA = motor(PORT1, false);
  motor leftB = motor(PORT2, false);
  motor_group leftGroup = motor_group(leftA, leftB);

  motor rightA = motor(PORT3, true);
  motor rightB = motor(PORT4, true);
  motor_group rightGroup = motor_group(rightA, rightB);

  // Create an Inertial sensor
  inertial Inertial = inertial(PORT5);

  // Build a 4-motor smartdrive with the Inertial Sensor
  smartdrive Smartdrive = smartdrive(leftGroup, rightGroup, Inertial, 259.34, 320, 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 sin una funcionalidad Sensor inercial o Sensor giroscópico, cree un objeto utilizando el constructor de clase drivetrain.

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