Transmisión

Introducción

Un sistema de transmisión permite que el robot se mueva de forma continua o durante distancias establecidas, gire por grados o en una dirección y responda a cambios en su orientación rotacional.

Si la transmisión está configurada con un Sensor inercial, Sensor GPS o Sensor giroscópico, la transmisión podrá realizar movimientos de avance, retroceso y giro más precisos al rastrear el rumbo y la rotación del sensor.

La categoría Tren Motriz también incluye métodos de configuración que permiten establecer velocidades de conducción y giro, definir comportamientos de frenado, aplicar tiempos de espera para evitar bloqueos de ejecución y actualizar manualmente los valores de rumbo o rotación del robot. Estas funciones ofrecen flexibilidad al diseñar comportamientos autónomos o ajustes en tiempo real.

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

A continuación se muestra una lista de los métodos disponibles:

Acciones: Mover y girar el robot.

• drive — Drives the robot continuously forward or in reverse using the current drive velocity.

• driveFor — Drives the robot forward or in reverse for a set distance.

• turn — Rotates the robot continuously left or right using the current turn velocity.

• turnFor — Rotates the robot left or right for a specified angle.

• turnToHeading — Rotates the robot to face a specific absolute heading.

• turnToRotation — Rotates the robot to reach a specific cumulative rotation.

• stop — Stops the drivetrain using the configured stopping mode.

• calibrateDrivetrain — Calibrates the drivetrain’s configured Inertial Sensor, GPS Sensor, or Gyro Sensor.

• arcade — Drives the drivetrain forward or reverse while turning at the same time.

Mutadores: establecen velocidades de movimiento y giro predeterminadas.

• setDriveVelocity — Sets the default drive velocity used by drive methods.

• setTurnVelocity — Sets the default turn velocity used by turn methods.

• setStopping — Sets how the drivetrain behaves when it stops.

• setTimeout — Sets how long drive and turn methods try to reach their target before timing out.

• setHeading — Manually sets the robot’s heading value.

• setRotation — Manually sets the robot’s cumulative rotation value.

• setGearRatio — Sets the gear ratio for all motors on the drivetrain.

• setTurnThreshold — Sets the turn threshold for a drivetrain.

• setTurnConstant — Sets the turn constant for a drivetrain.

• setTurnDirectionReverse — Sets a drivetrain to have its direction be reversed.

• setTurnVelocityMin — Sets the minimum turning velocity used by a drivetrain.

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.

• isTurning — Returns whether a drivetrain is currently turning.

• heading — Returns the drivetrain’s heading angle.

• rotation — Returns how much the drivetrain has turned since the project started.

• velocity — Returns the drivetrain’s current velocity.

• current — Returns the drivetrain’s current draw.

• power — Returns the drivetrain’s power usage.

• torque — Returns the drivetrain’s torque.

• efficiency — Returns the drivetrain’s efficiency.

• temperature — Returns the drivetrain motors’ temperature.

• voltage — Returns the voltage currently applied to the drivetrain.

Constructores: inicializan y configuran manualmente la transmisión.

• drivetrain — Creates a drivetrain without an Inertial Sensor, GPS Sensor, or Gyro Sensor.

• smartdrive — Creates a drivetrain configured with an Inertial Sensor, GPS Sensor, or Gyro Sensor.

Comportamiento

drive

drive moves the drivetrain forward or in reverse using the current drive velocity. This method runs continuously until another Drivetrain method interrupts it or the project stops.

Default Usage:
Drivetrain.drive(direction);

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

Parámetros	Descripción
direction	The direction in which the robot drives: forward reverse
velocity	La velocidad a la que la transmisión se moverá como un doble. Si la velocidad no se especifica o previamente establecida, la velocidad predeterminada es del 50%.
units	The unit to represent the velocity: velocityUnits::pct — percent rpm — rotations per minute dps — degrees per second

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

  // Drive forward and back
  Drivetrain.drive(forward);
  wait(2, seconds);
  Drivetrain.drive(reverse, 25, velocityUnits::pct);
  wait(2, seconds);
  Drivetrain.stop();
}

driveFor

driveFor moves the drivetrain forward or in reverse for a specified distance using the current drive velocity.

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

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

Parámetros	Descripción
direction	The direction in which the robot drives: forward reverse
distance	La distancia que recorrerá la transmisión es el doble.
units	The units representing the distance: mm — millimeters inches — inches cm — centimeters
wait	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.
velocity	La velocidad a la que la transmisión se moverá como un doble. Si la velocidad no se especifica o previamente establecida, la velocidad predeterminada es del 50%.
units_v	The unit to represent 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
direction	The direction in which to turn: left right
velocity	La velocidad a la que la transmisión girará en doble. Si no se especifica la velocidad o se ha establecido previamente en#setturnvelocity, la velocidad predeterminada es del 50 %.
units	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
direction	The direction in which to turn: left right
angle	La cantidad de grados que la transmisión girará como un doble.
units	The unit that represents the rotational value: degrees turns
velocity	La velocidad a la que la transmisión girará en doble. Si no se especifica la velocidad o se ha establecido previamente en#setturnvelocity, la velocidad predeterminada es del 50 %.
units_v	The unit that represents the velocity: velocityUnits::pct — percent rpm — rotations per minute dps — degrees per second
wait	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 está disponible si la transmisión está configurada con un Sensor inercial, Sensor GPS o Sensor giroscópico en la ventana Dispositivos.

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

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

Parámetros	Descripción
angle	El rumbo para girar la transmisión para hacerla quedar en posición doble.
units	The unit that represents the rotational value: degrees turns
velocity	La velocidad a la que la transmisión girará como un doble. Si la velocidad no se especifica o previamente establecida, la velocidad predeterminada es del 50%.
units_v	The unit that represents the velocity: velocityUnits::pct — percent rpm — rotations per minute dps — degrees per second
wait	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.

Nota: Este método solo está disponible si la transmisión está configurada con un Sensor inercial, Sensor GPS o Sensor giroscópico en la ventana Dispositivos.

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

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

Parámetros	Descripción
angle	El valor rotacional para girar la transmisión para que quede orientada como un doble.
units	The unit that represents the rotational value: degrees turns
velocity	La velocidad a la que la transmisión girará como un doble. Si la velocidad no se especifica o previamente establecida, la velocidad predeterminada es del 50%.
units_v	The unit that represents the velocity: velocityUnits::pct — percent rpm — rotations per minute dps — degrees per second
wait	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
mode	The stopping behavior to use when the drivetrain stops: brake — Stops immediately. coast — Slows gradually to a stop. hold — Stops and resists movement using motor feedback. If the stopping mode is not specified or previously set, the default behavior is brake.

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.

Este es un método generado por la configuración del robot de VEXcode al configurar una transmisión en la ventana Dispositivos. No funcionará fuera de VEXcode V5.

Nota: Este método solo está disponible si la transmisión está configurada con un Sensor inercial, Sensor GPS o Sensor giroscópico en la ventana Dispositivos.

Usage:
Drivetrain.calibrateDrivetrain();

Parámetros	Descripción
	Este método no tiene parámetros.

arcade

arcade moves the drivetrain forward or reverse while turning at the same time. This method runs continuously until another Drivetrain method interrupts it or the project stops.

Usage:
Drivetrain.arcade(drivePower, turnPower, units);

Parámetros	Descripción
drivePower	La velocidad de avance o retroceso es doble. Un número positivo indica avance, uno negativo indica retroceso.
turnPower	La velocidad para girar a la izquierda o a la derecha es doble. Un número positivo girará a la derecha, uno negativo girará a la izquierda.
units	Optional. The unit that represents the power values: percentUnits::pct — percent

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

  // Drive forward and left for 2 seconds
  Drivetrain.arcade(25, -25);
  wait(2, seconds);
  Drivetrain.driveFor(forward, 12, inches);
}

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
velocity	La velocidad a la que el tren motriz se moverá como un doble.
units	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
velocity	La velocidad a la que el tren motriz girará como un doble.
units	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
mode	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 command 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 command.

Nota: El límite de tiempo del tren motriz se utiliza para evitar que los comandos del tren motriz que no alcanzan su posición objetivo detengan la ejecución de otros comandos.

Usage:
Drivetrain.setTimeout(time, units);

Parámetros	Descripción
time	El número máximo de segundos que una función de motor se ejecutará antes de detenerse y pasar a la siguiente función como un entero.
units	The unit that represents the time: seconds msec — milliseconds

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

  // Start 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 está disponible si la transmisión está configurada con un Sensor inercial, Sensor GPS o Sensor giroscópico en la ventana Dispositivos.

Usage:
Drivetrain.setHeading(value, units);

Parámetros	Descripción
value	El nuevo título como doble.
units	The unit that represents the heading: degrees turns

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

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

setRotation

setRotation sets the rotation for the smart drivetrain.

Nota: Este método solo está disponible si la transmisión está configurada con un Sensor inercial, Sensor GPS o Sensor giroscópico en la ventana Dispositivos.

Usage:
Drivetrain.setRotation(value, units);

Parámetros	Descripción
value	El nuevo valor rotacional como doble.
units	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
mode	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.

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

setTurnThreshold

setTurnThreshold sets the turn threshold for a 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.

Nota: Este método solo está disponible si la transmisión está configurada con un Sensor inercial, Sensor GPS o Sensor giroscópico en la ventana Dispositivos.

Usage:
Drivetrain.setTurnThreshold(threshold);

Parámetros	Descripción
threshold	The new turn threshold in degrees as a double. The default for a smart drivetrain is 1 degree.

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

setTurnConstant

setTurnConstant sets the turn constant for a smart drivetrain. Smart drivetrains use 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 está disponible si la transmisión está configurada con un Sensor inercial, Sensor GPS o Sensor giroscópico en la ventana Dispositivos.

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.

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

setTurnDirectionReverse

setTurnDirectionReverse sets the smart drivetrain to be reversed.

Nota: Este método solo está disponible si la transmisión está configurada con un Sensor inercial, Sensor GPS o Sensor giroscópico en la ventana Dispositivos.

Usage:
Drivetrain.setTurnDirectionReverse(value);

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

setTurnVelocityMin

setTurnVelocityMin sets the minimum turning velocity used by a drivetrain. This prevents the drivetrain from slowing below a minimum speed while turning, which helps avoid stalling or incomplete turns.

Nota: Este método solo está disponible si la transmisión está configurada con un Sensor inercial, Sensor GPS o Sensor giroscópico en la ventana Dispositivos.

Usage:
Drivetrain.setTurnVelocityMin(velocity);

Parámetros	Descripción
velocity	La velocidad mínima de giro es el doble.

Captadores

isDone

isDone returns a Boolean indicating whether driveFor, turnToHeading, turnToRotation, or turnFor is not running.

• true — The drivetrain is not moving towards a target.

• false — The drivetrain is moving towards a target.

Usage:
Drivetrain.isDone()

Parámetros	Descripción
	Este método no tiene parámetros.

isMoving

isMoving returns a Boolean indicating whether driveFor, turnToHeading, turnToRotation, or turnFor is still running.

• true — The drivetrain is moving towards a target.

• false — The drivetrain is not moving towards a target.

Usage:
Drivetrain.isMoving()

Parámetros	Descripción
	Este método no tiene parámetros.

isTurning

isTurning returns a Boolean indicating whether turnToHeading, turnToRotation, or turnFor is still running.

• true — The drivetrain is currently rotating to a target.

• false — The drivetrain is not currently rotating to a target.

Nota: Este método solo está disponible si la transmisión está configurada con un Sensor inercial, Sensor GPS o Sensor giroscópico en la ventana Dispositivos.

Usage:
Drivetrain.isTurning()

Parámetros	Descripción
	Este método no tiene parámetros.

heading

heading returns the current heading of a smart drivetrain from 0–359.99 degrees as a double.

Nota: Este método solo está disponible si la transmisión está configurada con un Sensor inercial, Sensor GPS o Sensor giroscópico en la ventana Dispositivos.

Usage:
Drivetrain.heading(units)

Parámetros	Descripción
units	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 está disponible si la transmisión está configurada con un Sensor inercial, Sensor GPS o Sensor giroscópico en la ventana Dispositivos.

Usage:
Drivetrain.rotation(units)

Parámetros	Descripción
units	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
units	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
units	The unit that represents the current: percent amp (default)

power

power returns the average power of the smart drivetrain as a double.

Usage:
Drivetrain.power(units)

Parámetros	Descripción
units	The unit that represents the power: watt

torque

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

Usage:
Drivetrain.torque(units)

Parámetros	Descripción
units	A valid torque Unit: Nm (default) — newton meters InLb — inch pounds

efficiency

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

Usage:
Drivetrain.efficiency(units)

Parámetros	Descripción
units	The unit that represents the efficiency: percent

temperature

temperature returns the average temperature of the drivetrain as a double.

Usage:
Drivetrain.temperature(units)

Parámetros	Descripción
units	The unit that represents the temperature: percent

voltage

voltage returns the voltage currently applied to the drivetrain motors.

Usage:
Drivetrain.voltage(units)

Parámetros	Descripción
units	The unit that represents the voltage: volt

Constructores

Constructors are used to manually create drivetrain and smartdrive objects, which are necessary for configuring a drivetrain outside of VEXcode.

drivetrain

drivetrain creates a drivetrain without an Inertial Sensor, GPS Sensor, or Gyro Sensor.

Usage:
drivetrain(l, r, wheelTravel, trackWidth, wheelBase, unit, externalGearRatio);

Parámetro	Descripción
l	El nombre del [motor o grupo motor] izquierdo (Motion/motor_and_motor_group.md).
r	El nombre del motor o grupo motor.
wheelTravel	La circunferencia de las ruedas motrices es doble. El valor predeterminado es 320 milímetros.
trackWidth	El ancho de vía del tren motriz es doble. El valor predeterminado es 320 milímetros.
wheelBase	La distancia entre ejes del tren motriz es doble. El valor predeterminado es de 130 milímetros.
unit	The units that represent wheelTravel, trackWidth and wheelBase: mm (default) — millimeters inches
externalGearRatio	La relación de transmisión utilizada para compensar las distancias de conducción si se utiliza un engranaje doble. El valor predeterminado es 1.0.

Note: Motors and/or motor groups must be created first before they can be used to create an object with the drivetrain constructor.

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

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

  /*
  Create a drivetrain with the following values:
  wheelTravel: 259.34
  trackWidth: 320
  wheelBase: 40
  units: MM
  externalGearRatio: 1
  */
  drivetrain Drivetrain = drivetrain(leftMotor, rightMotor, 259.34, 320, 40, mm, 1);
}

smartdrive

smartdrive creates a drivetrain configured with an Inertial Sensor, GPS Sensor, or Gyro Sensor.

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

Parámetro	Descripción
lm	El nombre del [motor o grupo motor] izquierdo (Motion/motor_and_motor_group.md).
rm	El nombre del motor o grupo motor.
guido	El nombre del Sensor inercial, Sensor GPS o Sensor giroscópico.
wheelTravel	La circunferencia de las ruedas motrices es doble. El valor predeterminado es 320 milímetros.
trackWidth	El ancho de vía del tren motriz es doble. El valor predeterminado es 320 milímetros.
wheelBase	La distancia entre ejes del tren motriz es doble. El valor predeterminado es de 130 milímetros.
unit	The units that represent wheelTravel, trackWidth and wheelBase: mm (default) — millimeters inches
externalGearRatio	La relación de transmisión utilizada para compensar las distancias de conducción si se utiliza un engranaje doble. El valor predeterminado es 1.0.

Note: Motors and/or motor groups must be created first before they can be used to create an object with the smartdrive constructor.

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

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

  // Create an Inertial sensor in Port 3
  inertial myInertial = inertial(PORT3);

  /*
  Create a drivetrain with the following values:
  wheelTravel: 259.34
  trackWidth: 320
  wheelBase: 40
  units: MM
  externalGearRatio: 1
  */
  smartdrive Smartdrive = smartdrive(leftMotor, rightMotor, myInertial, 259.34, 320, 40, mm, 1);
}