SmartDrive#

Introducción#

The smartdrive class controls how a robot drives and turns using motors, wheels, and a sensor. A smartdrive can use a connected Gyro Sensor or the Brain’s built-in Inertial Sensor.

A smartdrive uses the sensor to help the robot move and turn precisely. At the start of each project, the drivetrain calibrates the sensor automatically. Keep the robot still for about 2 seconds during calibration, so the robot can move and turn correctly.

The smartdrive class is based on the drivetrain class. It can use the same drive and turn functions as drivetrain, and it also adds sensor-based functions like turnToHeading and turnToRotation.

This page uses myDrivetrain as the example smartdrive name. Replace it with your own configured name as needed.

Constructores de clases#

1 — Creates a smartdrive using existing motor_group objects for the left and right sides, along with a Gyro Sensor or Inertial Sensor.
smartdrive(
    motor_group     &l,
    motor_group     &r,
    gyro            &g,
    double          wheelTravel = 320,
    double          trackWidth  = 320,
    double          wheelBase   = 130,
    distanceUnits   unit = mm,
    double          externalGearRatio = 1.0 );

2 — Creates a smartdrive using existing motor objects for the left and right sides, along with a Gyro Sensor or Inertial Sensor.
smartdrive(
    motor           &l,
    motor           &r,
    gyro            &g,
    double          wheelTravel = 320,
    double          trackWidth  = 320,
    double          wheelBase   = 130,
    distanceUnits   unit = mm,
    double          externalGearRatio = 1.0 );

Instructor de clase#

Destroys the smartdrive object and releases associated resources.

~smartdrive();

Parámetros#

The sensor parameter can be a gyro or inertial object.

Parámetro	Tipo	Descripción
`&l` / `&r`	`motor_group` / `motor`	The left and right motors or motor groups. Both parameters must use the same type: either two `motor_group` objects or two `motor` objects.
`&g`	`gyro` / `inertial`	El Sensor giroscópico o el Sensor inercial utilizados por el smartdrive.
`wheelTravel`	`double`	The circumference of the drivetrain wheels. The default is `320`.
`trackWidth`	`double`	The distance between the left and right wheels. The default is `320`.
`wheelBase`	`double`	The distance between the front and back wheels. The default is `130`.
`unit`	`distanceUnits`	The unit for `wheelTravel`, `trackWidth`, and `wheelBase`: `mm` (default) or `inches`.
`externalGearRatio`	`double`	The gear ratio used to adjust drive distances if gears are used. The default is `1.0`.

Ejemplo#

/* This constructor is required when using VS Code.
Drivetrain configuration is generated automatically
in VEXcode using the Device Menu. Replace the values
as needed. */

// Create the left and right motor objects.
motor leftMotor = motor(PORT1, false);
motor rightMotor = motor(PORT9, true);

// Create the Inertial Sensor object.
inertial myInertial = inertial(PORT3);

// Create the smartdrive object.
smartdrive myDrivetrain = smartdrive(
    leftMotor,  // left motor
    rightMotor, // right motor
    myInertial, // Inertial Sensor
    259.34,     // wheelTravel
    320,        // trackWidth
    40,         // wheelBase
    mm,         // unit
    1.0 );      // externalGearRatio

Funciones de los miembros#

The smartdrive class includes the following member functions:

Acciones: Gire el robot utilizando el control de dirección o la rotación.

turnToHeading — Turns the robot to face a specific heading from -359 to 359 degrees. The robot will turn the shortest direction to reach the target heading.
turnToRotation — Turns the robot to a specific rotation.
calibrateDrivetrain — Calibrates the sensor configured with the smartdrive.

Ajustes: Ajustar los valores de rumbo y rotación.

setHeading — Changes the robot’s current heading to a new heading.
setRotation — Changes the robot’s current rotation to a new rotation.

Valores: Compruebe el rumbo y la rotación.

heading — Returns the robot’s current heading from 0 to 359 degrees.
rotation — Returns the robot’s current rotation.

A smartdrive can also use the inherited member functions from drivetrain, such as drive, driveFor, turn, turnFor, stop, isDone, and isMoving.

Before calling any smartdrive member functions, a smartdrive object must be created.

/* This constructor is required when using VS Code.
Drivetrain configuration is generated automatically
in VEXcode using the Device Menu. Replace the values
as needed. */

// Create the left and right motor objects.
motor leftMotor = motor(PORT1, false);
motor rightMotor = motor(PORT9, true);

// Create the Inertial Sensor object.
inertial myInertial = inertial(PORT3);

// Create the smartdrive object.
smartdrive myDrivetrain = smartdrive(
    leftMotor,  // left motor
    rightMotor, // right motor
    myInertial, // Inertial Sensor
    259.34,     // wheelTravel
    320,        // trackWidth
    40,         // wheelBase
    mm,         // unit
    1.0 );      // externalGearRatio

girarAlEncabezado#

A heading is the direction the robot is facing, measured in degrees. turnToHeading turns the robot to face a specific heading from -359 to 359 degrees. The robot will turn the shortest direction to reach the target heading.

La dirección inicial del robot es de 0 grados.

El proyecto esperará a que el robot termine de girar antes de ejecutar la siguiente línea de código.

Available Functions

1 — Gira el robot hacia la dirección especificada utilizando la velocidad de giro actual.
bool turnToHeading(
    double        angle,
    rotationUnits units,
    bool          waitForCompletion = true );

2 — Gira el robot hacia la dirección especificada a la velocidad especificada.
bool turnToHeading(
    double        angle,
    rotationUnits units,
    double        velocity,
    velocityUnits units_v,
    bool          waitForCompletion = true );

Parameters

Parámetro	Tipo	Descripción
`angle`	`double`	The direction the robot should face, in degrees. This can be from -359 to 359 when using `deg` or `degrees`.
`units`	`rotationUnits`	The heading unit: `deg` (degrees), `rev` (revolutions), or `raw` (raw units). One revolution is equal to 360 degrees.
`velocity`	`double`	The velocity to turn with from 0% to 100% when using `velocityUnits::pct`, from 0 to 120 rpm when using `rpm`, or from 0 to 720 degrees per second when using `dps`. If no velocity is provided, the robot turns at the current turn velocity.
`units_v`	`velocityUnits`	The velocity unit: `velocityUnits::pct` (percent), `rpm` (rotations per minute), or `dps` (degrees per second).
`waitForCompletion`	`bool`	`true` (default) makes the project wait until the robot is done turning before the next line of code runs. `false` makes the next line of code run right away.

Return Values

Devuelve, como valor booleano, si el robot alcanzó la dirección objetivo.

true — The robot reached the target heading.
false — The robot did not finish the turn, or the function returned before the turn completed because waitForCompletion was set to false.

Notes

Running another drivetrain movement function while turnToHeading is running will interrupt the current movement.
turnToHeading uses a target heading, so isDone and isMoving can be used with it.

Examples

// Face the new 0 degrees.
myDrivetrain.setHeading(90, degrees);
myDrivetrain.turnToHeading(0, degrees);

girarArotación#

turnToRotation turns the robot to a specific rotation.

Rotation is how much the robot has turned, measured in degrees or revolutions. At the beginning of a project, the rotation value is set to 0 degrees. Rotation can also be set using the setRotation function.

Los valores de rotación son absolutos. Esto significa que la dirección del giro depende de la rotación actual del robot. Girar a la derecha aumenta la rotación, y girar a la izquierda la disminuye.

Por ejemplo, si el robot comienza en 0 grados y se le da una rotación de 720 grados, girará dos veces a la derecha. Si luego se le da una rotación de 360 grados, girará una vez a la izquierda, ya que 360 es menor que 720.

El proyecto esperará a que el robot termine de girar antes de ejecutar la siguiente línea de código.

Available Functions

1 — Gira el robot a la rotación especificada utilizando la velocidad de giro actual.
bool turnToRotation(
    double        angle,
    rotationUnits units,
    bool          waitForCompletion = true );

2 — Gira el robot a la rotación especificada a la velocidad especificada.

bool turnToRotation(
    double        angle,
    rotationUnits units,
    double        velocity,
    velocityUnits units_v,
    bool          waitForCompletion = true );

Parameters

Parámetro	Tipo	Descripción
`angle`	`double`	El valor de rotación al que girará el robot.
`units`	`rotationUnits`	The rotation unit: `deg` (degrees), `rev` (revolutions), or `raw` (raw units). One revolution is equal to 360 degrees.
`velocity`	`double`	The velocity to turn with from 0% to 100% when using `velocityUnits::pct`, from 0 to 120 rpm when using `rpm`, or from 0 to 720 degrees per second when using `dps`. If no velocity is provided, the robot turns at the current turn velocity.
`units_v`	`velocityUnits`	The velocity unit: `velocityUnits::pct` (percent), `rpm` (rotations per minute), or `dps` (degrees per second).
`waitForCompletion`	`bool`	`true` (default) makes the project wait until the robot is done turning before the next line of code runs. `false` makes the next line of code run right away.

Return Values

Devuelve, como valor booleano, si el robot alcanzó la rotación objetivo.

true — The robot reached the target rotation.
false — The robot did not finish the turn, or the function returned before the turn completed because waitForCompletion was set to false.

Notes

Running another drivetrain movement function while turnToRotation is running will interrupt the current movement.
turnToRotation uses a target rotation, so isDone and isMoving can be used with it.

Examples

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

calibrar la transmisión#

calibrateDrivetrain calibrates the connected Gyro Sensor or the Brain’s built-in Inertial Sensor configured with the smartdrive.

La calibración ayuda al sensor a medir el movimiento correctamente. Mantenga el robot quieto durante aproximadamente 2 segundos durante la calibración. Si el robot se mueve durante la calibración, es posible que el sensor no mida el movimiento correctamente.

El proyecto esperará a que finalice la calibración antes de ejecutar la siguiente línea de código.

Note: calibrateDrivetrain is generated automatically by VEXcode when a drivetrain is configured with a Gyro Sensor or Inertial Sensor. It is provided as part of the project source and is not part of the VEX IQ C++ API.

Available Functions

void calibrateDrivetrain();

Parameters

Esta función no acepta ningún parámetro.

Return Values

Esta función no devuelve ningún valor.

Notes

El robot se calibra automáticamente al inicio de cada proyecto cuando se configura un controlador inteligente en VEXcode.
Mantenga el robot inmóvil durante aproximadamente 2 segundos durante la calibración.

Function Implementation

The following is an example of the auto-generated implementation of calibrateDrivetrain created by VEXcode:

bool vexcode_initial_drivetrain_calibration_completed = false;
void calibrateDrivetrain() {
  wait(200, msec);
  Brain.Screen.print("Calibrating");
  Brain.Screen.newLine();
  Brain.Screen.print("Inertial");
  DrivetrainInertial.calibrate();
  while (DrivetrainInertial.isCalibrating()) {
    wait(25, msec);
  }
  vexcode_initial_drivetrain_calibration_completed = true;
  // Clears the screen and returns the cursor to row 1, column 1.
  Brain.Screen.clearScreen();
  Brain.Screen.setCursor(1, 1);
}

establecer encabezado#

A heading is the direction the robot is facing, measured in degrees. setHeading changes the robot’s current heading to a new heading value.

Por ejemplo, si el robot ha girado para mirar hacia la derecha, al establecer la orientación a 0 grados, esa posición mirando hacia la derecha se convierte en la nueva posición de 0 grados. Entonces, el robot puede girar a otras posiciones en función de esa nueva orientación.

Available Functions

void setHeading(
  double value,
  rotationUnits units);

Parameters

Parámetro	Tipo	Descripción
`value`	`double`	The heading value to set for the robot. This can be from -359 to 359 when using `deg` or `degrees`.
`units`	`rotationUnits`	The heading unit: `deg` (degrees), `rev` (revolutions), or `raw` (raw units). One revolution is equal to 360 degrees.

Return Values

Esta función no devuelve ningún valor.

Examples

// Face the new 0 degrees.
myDrivetrain.setHeading(90, degrees);
myDrivetrain.turnToHeading(0, degrees);

establecer rotación#

Rotation is how much the robot has turned, measured in degrees or revolutions. At the beginning of a project, the rotation value is set to 0 degrees. setRotation changes the robot’s current rotation to a new value.

Por ejemplo, si el robot ha dado dos vueltas completas a la derecha, su valor de rotación será de 720 grados. Si se establece la rotación en 0 grados, esta volverá a su valor original. A partir de ahí, el robot podrá girar según ese nuevo valor.

Available Functions

void setRotation(
  double value,
  rotationUnits units);

Parameters

Parámetro	Tipo	Descripción
`value`	`double`	El valor de rotación que se debe establecer para el robot.
`units`	`rotationUnits`	The rotation unit: `deg` (degrees), `rev` (revolutions), or `raw` (raw units). One revolution is equal to 360 degrees.

Return Values

Esta función no devuelve ningún valor.

Examples

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

título#

A heading is the direction the robot is facing, measured in degrees. heading returns the robot’s current heading from 0 to 359 degrees.

La dirección inicial del robot es de 0 grados.

Available Functions

double heading( rotationUnits units = rotationUnits::deg );

Parameters

Parámetro	Tipo	Descripción
`units`	`rotationUnits`	Optional. The unit to return heading in: `degrees`, `deg` (default), `rev`, or `raw`. One revolution is equal to 360 degrees.

Return Values

Returns the robot’s current heading as a double in the selected unit.

Examples

// Show heading before and after turning.
Brain.Screen.print("Before: %f", myDrivetrain.heading(degrees));
myDrivetrain.turnFor(right, 90, degrees);
wait(1, seconds);
Brain.Screen.newLine();
Brain.Screen.print("After: %f", myDrivetrain.heading(degrees));
myDrivetrain.stop();

rotación#

Rotation is how much the robot has turned, measured in degrees or revolutions. At the beginning of a project, the rotation value is set to 0 degrees. rotation returns the robot’s current rotation.

Girar a la derecha aumenta la rotación, y girar a la izquierda la disminuye. Por ejemplo, dar dos vueltas completas a la derecha produce una rotación de 720 grados.

Available Functions

double rotation( rotationUnits units = rotationUnits::deg );

Parameters

Parámetro	Tipo	Descripción
`units`	`rotationUnits`	Optional. The unit to return rotation in: `degrees`, `deg` (default), `rev`, or `raw`. One revolution is equal to 360 degrees.

Return Values

Returns the robot’s current rotation as a double in the selected unit.

Examples

// Show rotation before and after turning.
Brain.Screen.print("Before: %f", myDrivetrain.rotation(degrees));
myDrivetrain.turnFor(right, 90, degrees);
wait(1, seconds);
Brain.Screen.newLine();
Brain.Screen.print("After: %f", myDrivetrain.rotation(degrees));
myDrivetrain.stop();