Transmisión#
Introduction#
A VEX V5 drivetrain allows the robot to move continuously or for set distances, rotate by degrees or to a heading, and respond to changes in its rotational orientation.
If the drivetrain is configured with an Inertial Sensor, GPS Sensor, or Gyro Sensor, the drivetrain will be able to make more precise forward, reverse, and turning movements by tracking the sensor’s heading and rotation.
The Drivetrain category also includes configuration blocks that let you set drive and turn speeds, define stopping behavior, apply timeouts to avoid execution stalls, and manually update the robot’s heading or rotation values. These features provide flexibility when designing autonomous behaviors or real-time adjustments.
Below is a list of available blocks:
Actions – Drive or turn the robot for a set distance, angle, or continuously.
drive – Drives the robot continuously forward or in reverse.
drive for – Drives the robot for a set distance.
turn – Turns the robot continuously left or right.
turn for – Turns the robot a specific number of degrees.
turn to heading – Turns the robot to face a specific absolute heading.
turn to rotation – Turns the robot to reach a specific cumulative rotation.
stop driving – Stops all robot movement.
Settings – Configure drivetrain speeds, stopping, timeouts, and rotation values.
set drive velocity – Sets the speed for all drive blocks.
set turn velocity – Sets the speed for all turn blocks.
set drive stopping – Configures the stopping behavior after movement ends.
set drive timeout – Limits how long drive blocks wait to reach their goal.
set drive heading – Manually sets the robot’s gyro heading value.
set drive rotation – Manually sets the robot’s cumulative rotation value.
Values – Return drivetrain motion status, heading, rotation, velocity, and current draw.
calibrate drivetrain – Calibrates the drivetrain’s configured Inertial, GPS, or Gyro Sensor.
drive is done? – Returns a Boolean indicating whether the drivetrain is no longer moving.
drive is moving? – Returns a Boolean indicating whether the drivetrain is currently moving.
drive heading – Returns the drivetrain’s heading angle (0 to 359.99 degrees).
drive rotation – Returns how much the drivetrain has turned since the project started.
drive velocity – Returns the drivetrain’s current velocity in % or rpm.
drive current – Returns the current (in amps) drawn by the drivetrain’s motors.
drive power – Returns the amount of electrical power the drivetrain is consuming in watts.
drive torque – Returns the amount of torque currently being applied by the drivetrain in inch-pounds (InLb) or Newton-meters (Nm).
drive efficiency – Returns the current efficiency of the drivetrain.
drive temperature – Returns the current temperature of the drivetrain’s motors.
Actions#
drive#
The drive block moves the drivetrain forward or in reverse using the current drive velocity. This block runs continuously until another Drivetrain block interrupts it or the project stops.
unidad [adelante v]
Parameters |
Description |
|---|---|
direction |
The direction in which the robot drives:
|
Example
cuando empezó
[Drive forward, then stop.]
unidad [adelante v]
esperar [2] segundos
deja de conducir
drive for#
The drive for block moves the drivetrain forward or in reverse for a specified distance using the current drive velocity.
unidad [adelante v] para [200] [mm v] ▶
Parameters |
Description |
|---|---|
direction |
The direction in which the robot drives:
|
distance |
The distance the robot drives, as an integer or decimal. |
unit |
The unit of measurement:
|
expanding arrow |
By default, this is a waiting block, so the drivetrain will finish moving before running the next block. To make the drivetrain start moving and immediately run the next block right away, expand the block to say and don’t wait. |
Example
cuando empezó
[Drive forwards and backwards.]
unidad [adelante v] para [200] [mm v] ▶
esperar [1] segundos
unidad [atrás v] para [200] [mm v] ▶
turn#
The turn block turns the drivetrain continuously left or right using the current turn velocity. The drivetrain will keep turning until another Drivetrain block runs or the project stops.
turno [derecha v]
Parameters |
Description |
|---|---|
direction |
The direction in which the robot turns:
|
Example
cuando empezó
[Turn right, then stop.]
turno [derecha v]
esperar [2] segundos
deja de conducir
turn for#
The turn for block turns the drivetrain left or right for a specific number of degrees using the current turn velocity.
girar [derecha v] por [90] grado ▶
Parameters |
Description |
|---|---|
direction |
The direction in which the robot turns:
|
angle |
The number of degrees the robot turns, as an integer or decimal. |
expanding arrow |
By default, this is a waiting block, so the drivetrain will finish turning before running the next block. To make the drivetrain start turning and immediately run the next block right away, expand the block to say and don’t wait. |
Example
cuando empezó
[Turn left, then turn around to the right.]
girar [izquierda v] por [90] grado ▶
girar [derecha v] por [180] grado ▶
turn to heading#
The turn to heading block turns the drivetrain to face a specific heading using the current turn velocity.
Note: This block is only available if the drivetrain is configured with an Inertial Sensor, GPS Sensor, or Gyro Sensor in the Devices window.
girar hacia el rumbo (90) grados ▶
Parameters |
Description |
|---|---|
heading |
The absolute heading the drivetrain will turn to, from -360 to 360 degrees. |
expanding arrow |
By default, this is a waiting block, so the drivetrain will finish turning before running the next block. To make the drivetrain start turning and immediately run the next block right away, expand the block to say and don’t wait. |
Example
cuando empezó
[Turn to face the cardinal directions.]
girar hacia el rumbo [90] grados ▶
esperar [2] segundos
girar hacia el rumbo [180] grados ▶
esperar [2] segundos
girar hacia el rumbo [270] grados ▶
esperar [2] segundos
girar hacia el rumbo [0] grados ▶
esperar [2] segundos
turn to rotation#
The turn to rotation block turns the drivetrain to face a specific rotational value using the current turn velocity.
Note: This block is only available if the drivetrain is configured with an Inertial Sensor, GPS Sensor, or Gyro Sensor in the Devices window.
girar a rotación [90] grados ▶
Parameters |
Description |
|---|---|
rotation |
The cumulative rotation value the robot will turn to, as an integer or decimal. |
expanding arrow |
By default, this is a waiting block, so the drivetrain will finish turning before running the next block. To make the drivetrain start turning and immediately run the next block right away, expand the block to say and don’t wait. |
Example
cuando empezó
[Turn left, then spin in a circle clockwise and face right.]
girar a rotación [-90] grados ▶
esperar [2] segundos
girar a rotación [450] grados ▶
stop driving#
The stop driving block immediately stops all movement of the drivetrain.
deja de conducir
Parameters |
Description |
|---|---|
This block has no parameters. |
Example
cuando empezó
[Drive forward, then stop.]
unidad [adelante v]
esperar [4] segundos
deja de conducir
Settings#
set drive velocity#
The set drive velocity block sets the movement velocity as a percentage for all subsequent movement blocks in the project. By default, this is 50%.
establecer la velocidad de accionamiento al (50)%
Parameters |
Description |
|---|---|
velocity |
Sets the movement velocity from 0% to 100%. |
Example
cuando empezó
[Drive forward at the default velocity.]
unidad [adelante v] para (100) [mm v] ▶
esperar (1) segundos
[Move slower.]
establecer la velocidad de accionamiento al (20)%
unidad [adelante v] para (100) [mm v] ▶
esperar (1) segundos
[Move faster.]
establecer la velocidad de accionamiento al (100)%
unidad [adelante v] para (100) [mm v] ▶
esperar (1) segundos
set turn velocity#
The set turn velocity block sets the default velocity as a percentage for all subsequent turn blocks in the project. By default, this is 50%.
set turn velocity to [50] %
Parameters |
Description |
|---|---|
velocity |
Sets the turn velocity from 0% to 100%. |
Example
cuando empezó
[Turn at default velocity.]
girar [derecha v] por (100) grado ▶
esperar (1) segundos
[Turn slower.]
establecer la velocidad de giro al (20)%
girar [derecha v] por (100) grado ▶
esperar (1) segundos
[Turn faster.]
establecer la velocidad de giro al (100)%
girar [derecha v] por (100) grado ▶
esperar (1) segundos
set drive stopping#
The set drive stopping block sets how the drivetrain behaves when drivetrain movement ends.
Establecer la detención de la unidad en [freno v]
Parameters |
Description |
|---|---|
stopping behavior |
Sets how the drivetrain stops:
|
set drive timeout#
The set drive timeout block sets a time limit for how long a Drivetrain block will wait to reach its target. If the robot cannot complete the movement within the set time, it will stop automatically and continue with the next block.
Note: The drivetrain’s time limit is used to prevent Drivetrain blocks that do not reach their target position from stopping the execution of other blocks in the stack.
Establezca el tiempo de espera de la unidad en (1) segundos
Parameters |
Description |
|---|---|
time |
The maximum number of seconds a Drivetrain block will run before stopping and moving to the next block. |
set drive heading#
The set drive heading block sets the gyro’s current heading to a specified value.
Note: This block is only available if the drivetrain is configured with an Inertial Sensor, GPS Sensor, or Gyro Sensor in the Devices window.
establecer el rumbo de la unidad a (0) grados
Parameters |
Description |
|---|---|
heading |
The heading value to assign, in degrees. |
Example
cuando empezó
[Turn to the left.]
establecer el rumbo de la unidad a (90) grados
girar hacia el rumbo (0) grados ▶
set drive rotation#
The set drive rotation block sets the gyro’s current cumulative rotation value.
Note: This block is only available if the drivetrain is configured with an Inertial Sensor, GPS Sensor, or Gyro Sensor in the Devices window.
establecer la rotación de la unidad a (0) grados
Parameters |
Description |
|---|---|
rotation |
The cumulative rotation value to assign, in degrees. |
Example
cuando empezó
[Spin counterclockwise two times.]
establecer la rotación de la unidad a (720) grados
girar a rotación (0) grados ▶
Values#
calibrate drivetrain#
The calibrate drivetrain block calibrates the drivetrain’s configured Inertial, GPS, or Gyro Sensor. All subsequent blocks will wait for the calibration to complete before executing. Calibration is an internal procedure that measures and compensates for sensor noise and drift over a specified period. During this time, the sensor must remain completely still (i.e., on a stable surface without any external movement). Movement during calibration will produce inaccurate results.
Note: This block is only available if the drivetrain is configured with an Inertial Sensor, GPS Sensor, or Gyro Sensor in the Devices window.
calibrar la transmisión
Parameters |
Description |
|---|---|
This block has no parameters. |
drive is done?#
The drive is done? block returns a Boolean indicating whether the drivetrain is not moving.
True - The drivetrain is not moving.
False - The drivetrain is moving.
Note: This block only detects movement from blocks that can expand to show the and don’t wait option.
<¿La unidad está lista?>
Parameters |
Description |
|---|---|
This block has no parameters. |
drive is moving?#
The drive is moving? block returns a Boolean indicating whether the drivetrain is moving.
True - The drivetrain is moving.
False - The drivetrain is not moving.
Note: This block only detects movement from blocks that can expand to show the and don’t wait option.
<¿La unidad se está moviendo?>
Parameters |
Description |
|---|---|
This block has no parameters. |
drive heading#
The drive heading block returns the drivetrain’s heading angle as a decimal number, in the range 0 to 359.99 degrees.
Note: This block is only available if the drivetrain is configured with an Inertial Sensor, GPS Sensor, or Gyro Sensor in the Devices window.
(rumbo de la unidad en grados)
Parameters |
Description |
|---|---|
This block has no parameters. |
Example
cuando empezó
[Display the heading after turning.]
girar [derecha v] por (450) grado ▶
imprimir (rumbo de la unidad en grados) en la pantalla ◀ y coloque el cursor en la siguiente fila
drive rotation#
The drive rotation block returns how much the drivetrain has turned since the project started, in degrees: positive for clockwise, negative for counterclockwise.
Note: This block is only available if the drivetrain is configured with an Inertial Sensor, GPS Sensor, or Gyro Sensor in the Devices window.
(rotación de la unidad en grados)
Parameters |
Description |
|---|---|
This block has no parameters. |
Example
cuando empezó
[Display the rotation after turning.]
girar [derecha v] por (450) grado ▶
imprimir (rotación de la unidad en grados) en la pantalla ◀ y coloque el cursor en la siguiente fila
drive velocity#
The drive velocity block returns the current speed of the drivetrain in a range from -100% to 100% or -127 rpm to 127 rpm.
(velocidad de accionamiento en [% v])
Parameters |
Description |
|---|---|
unit |
The unit of measurement:
|
drive current#
The drive current block returns the amount of electrical current the drivetrain is drawing in a range from 0.0 to 1.2 amps (amperes).
(amperios de corriente de accionamiento)
Parameters |
Description |
|---|---|
This block has no parameters. |
drive power#
The drive power block returns the amount of electrical power the drivetrain is consuming in a range from 0.0 to 22.0 watts.
(potencia de accionamiento en vatios)
Parameters |
Description |
|---|---|
This block has no parameters. |
drive torque#
The drive torque block returns the amount of torque currently being applied by the drivetrain in a range from 0.0 to 22.0 inch-pounds (InLb) or 0.0 to 2.1 Newton-meters (Nm).
(par de accionamiento en [InLb v])
Parameters |
Description |
|---|---|
unit |
The unit of measurement:
|
drive efficiency#
The drive efficiency block returns the current efficiency of the drivetrain as a percent.
(eficiencia del variador en %)
Parameters |
Description |
|---|---|
This block has no parameters. |
drive temperature#
The drive temperature block returns the current temperature of the drivetrain’s motors as a percent.
(temperatura de la unidad en %)
Parameters |
Description |
|---|---|
This block has no parameters. |