Tren de transmisión

Introducción

The drivetrain class provides control over a drivetrain using separate left and right motors or motor groups.

Clases derivadas

The drivetrain class serves as a base class for the following derived classes:

• smartdrive — This class adds Inertial Sensor, GPS Sensor, or Gyro Sensor support to enable heading-based and rotation-based turns.

Constructores de clases

1 — This constructor constructs a drivetrain using references to existing motor_group instances for the left (&l) and right (&r) sides.

drivetrain(
    motor_group      &l,
    motor_group      &r,
    double           wheelTravel = 320,
    double           trackWidth = 320,
    double           wheelBase = 130,
    distanceUnits    unit = mm,
    double           externalGearRatio = 1.0 );

2 — This constructor constructs a drivetrain using references to existing motor instances for the left (&l) and right (&r) sides.

drivetrain(
    motor            &l,
    motor            &r,
    double           wheelTravel = 320,
    double           trackWidth = 320,
    double           wheelBase = 130,
    distanceUnits    unit = mm,
    double           externalGearRatio = 1.0 );

Instructor de clase

Destroys the drivetrain object and releases associated resources.

virtual ~drivetrain();

Parámetros

Parámetro	Tipo	Descripción
&l / &r	motor_group / motor	References to existing motor or motor_group instances. Both parameters must be of the same type: either two motor_group instances or two motor instances. The &l parameter refers to the left motor or motor group, and &r refers to the right motor or motor group.
wheelTravel	double	The wheel’s circumference. Default is 320, expressed in millimeters by default or in the units specified by the unit parameter.
trackWidth	double	The distance between the left and right wheels. Default is 320, expressed in millimeters by default or in the units specified by the unit parameter.
wheelBase	double	The width of the wheel base. Default is 130, expressed in millimeters by default or in the units specified by the unit parameter.
unit	distanceUnits	Units for the wheelTravel, trackWidth, and wheelBase parameters: mm (default) — millimeters inches
externalGearRatio	double	The gear ration compensation factor. Default is 1.0.

Ejemplo

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

// Create the drivetrain instance
drivetrain myDrivetrain = drivetrain(
    leftMotor,  // left motor instance 
    rightMotor, // right motor instance
    259.34,     // wheelTravel
    320,        // trackWidth
    40,         // wheelBase
    mm,         // unit
    1.0 );      // externalGearRatio

Funciones de los miembros

The drivetrain class includes the following member functions:

• 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.

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

• 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.

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

• isMoving — Returns whether a drivetrain is currently moving.

• 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.

Before calling any drivetrain member functions, a drivetrain instance must be created, as shown below:

/* 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 instances
motor leftMotor = motor(PORT1, false);
motor rightMotor = motor(PORT9, true);

// Create the drivetrain instance
drivetrain myDrivetrain = drivetrain(
    leftMotor,  // left motor instance 
    rightMotor, // right motor instance
    259.34,     // wheelTravel
    320,        // trackWidth
    40,         // wheelBase
    mm,         // unit
    1.0 );      // externalGearRatio

conducir

Mueve el sistema de transmisión en una dirección específica de forma continua.

Available Functions

1 — Conduce utilizando la velocidad de accionamiento configurada.

void drive(
    directionType dir );

2 — Conduce a la velocidad especificada.

void drive(
    directionType dir,
    double        velocity,
    velocityUnits units );

Parameters

Parámetro	Tipo	Descripción
dir	directionType	The direction in which the robot drives: forward reverse
velocity	double	La velocidad a la que se moverá el sistema de transmisión se representa como un valor double. Si no se especifica la velocidad o si previamente se estableció en, la velocidad predeterminada es del 50 %.
units	velocityUnits	The unit to represent the velocity: velocityUnits::pct — percent rpm — rotations per minute dps — degrees per second

Return Values

Esta función no devuelve ningún valor.

Notes

• drive is non-waiting; the project will continue executing the next line of code immediately after the call.

• The drivetrain will continue moving until stop is called or another drivetrain movement function (such as driveFor or turn) is executed.

• Functions such as isDone and isMoving are not applicable to drive, since it does not use target-based movement (doesn’t have a distance parameter).

Examples

// Drive forward and back
myDrivetrain.drive(forward);
wait(2, seconds);
myDrivetrain.drive(reverse, 25, rpm);
wait(2, seconds);
myDrivetrain.stop();

driveFor

Mueve el sistema de transmisión en una dirección específica a lo largo de una distancia específica en las unidades especificadas.

Available Functions

1 — Conduce en la dirección especificada durante una distancia utilizando la velocidad de conducción configurada.

bool driveFor(
    directionType dir,
    double        distance,
    distanceUnits units,
    bool          waitForCompletion = true );

2 — Conduce en una dirección que depende de la distancia utilizando la velocidad de conducción configurada.

bool driveFor(
    double        distance,
    distanceUnits units,
    bool          waitForCompletion = true );

3 — Conduce en una dirección que depende de la distancia a la velocidad especificada.

bool driveFor(
    double        distance,
    distanceUnits units,
    double        velocity,
    velocityUnits units_v,
    bool          waitForCompletion = true );

4 — Conduce en la dirección especificada durante una distancia a la velocidad especificada.

bool driveFor(
    directionType dir,
    double        distance,
    distanceUnits units,
    double        velocity,
    velocityUnits units_v,
    bool          waitForCompletion = true );

Parameters

Parámetro	Tipo	Descripción
dir	directionType	The direction in which the robot drives: forward reverse
distance	double	La distancia que recorrerá el sistema de transmisión.
units	distanceUnits	The units representing the distance: mm — millimeters inches — inches cm — centimeters
velocity	double	La velocidad a la que se moverá el sistema de transmisión se representa como un valor double. Si no se especifica la velocidad o si previamente se estableció en, la velocidad predeterminada es del 50 %.
units_v	velocityUnits	The unit to represent the velocity: velocityUnits::pct — percent rpm — rotations per minute dps — degrees per second
waitForCompletion	bool	true (default) — The project waits until the function finishes 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 the function to finish.

Return Values

Returns a Boolean indicating whether the drivetrain reached the target distance parameter value:

• true — The drivetrain successfully reaches the target distance parameter value.
• false — The drivetrain does not complete the movement or if the waitForCompletion parameter is set to false.

Notes

• Executing another drivetrain movement function (such as drive or turnFor) while driveFor is in progress will interrupt the current movement.

• Because driveFor is target-based (uses a distance parameter), functions such as isDone and isMoving work with driveFor.

Examples

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

doblar

Hace girar el sistema de transmisión en una dirección específica de forma continua.

Available Functions

1 — Gira utilizando la velocidad de giro configurada.

void turn(
    turnType dir );

2 — Gira a la velocidad especificada.

void turn(
    turnType     dir,
    double       velocity,
    velocityUnits units );

Parameters

Parámetro	Tipo	Descripción
dir	turnType	The direction in which the robot turns: left right
velocity	double	La velocidad a la que girará la transmisión se representa como un valor doble. Si no se especifica la velocidad o si previamente se estableció en, la velocidad predeterminada es del 50 %.
units	velocityUnits	The unit to represent the velocity: velocityUnits::pct — percent rpm — rotations per minute dps — degrees per second

Return Value This function does not return a value. Notes

• turn is non-waiting; the project will continue executing the next line of code immediately after the call.

• The drivetrain will continue turning until stop is called or another drivetrain movement function (such as turnFor or drive) is executed.

• Functions such as isDone and isMoving are not applicable to turn, since it does not use target-based movement (doesn’t have an angle parameter).

Examples

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

turnoPara

Gira el sistema de transmisión en una dirección específica para un ángulo específico en las unidades especificadas.

Available Functions

1 — Gira para el ángulo especificado utilizando la velocidad de giro configurada.

bool turnFor(
    double        angle,
    rotationUnits units,
    bool          waitForCompletion = true );

2 — Gira en la dirección especificada para un ángulo utilizando la velocidad de giro configurada.

bool turnFor(
    turnType      dir,
    double        angle,
    rotationUnits units,
    bool          waitForCompletion = true );

3 — Giros para el ángulo especificado a la velocidad especificada.

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

4 — Gira en la dirección especificada para un ángulo a la velocidad especificada.

bool turnFor(
    turnType      dir,
    double        angle,
    rotationUnits units,
    double        velocity,
    velocityUnits units_v,
    bool          waitForCompletion = true );

Parameters

Parámetro	Tipo	Descripción
dir	turnType	The direction in which the robot turns: left right
angle	double	El ángulo de giro de la transmisión.
units	rotationUnits	The units representing the angle: deg — degrees rev — revolutions raw — raw units
velocity	double	La velocidad a la que girará la transmisión se representa como un valor doble. Si no se especifica la velocidad o si previamente se estableció en, la velocidad predeterminada es del 50 %.
units_v	velocityUnits	The unit to represent the velocity: velocityUnits::pct — percent rpm — rotations per minute dps — degrees per second
waitForCompletion	bool	true (default) — The project waits until the function finishes 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 the function to finish.

Return Values

Returns a Boolean indicating whether the drivetrain reached the target angle parameter value:

• true — The drivetrain successfully reaches the target angle parameter value.
• false — The drivetrain does not complete the movement or if the waitForCompletion parameter is set to false.

Notes

• Executing another drivetrain movement function (such as turn or drive) while turnFor is in progress will interrupt the current movement.

• Because turnFor is target-based (uses an angle parameter), functions such as isDone and isMoving work with turnFor.

Examples

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

detener

Detiene la transmisión.

Available Functions

1 — Detiene el tren motriz utilizando el modo de parada configurado actualmente.

void stop();

2 — Detiene la transmisión utilizando el modo de frenado especificado.

void stop(
    brakeType mode );

Parameters

Parámetro	Tipo	Descripción
mode	brakeType	The brake type to use when stopping the drivetrain: brake — Stops immediately. coast — Slows gradually to a stop. hold — Stops and resists movement using motor feedback.

Return Values

Esta función no devuelve ningún valor.

Examples

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

establecerVelocidadDeConducción

Establece la velocidad de transmisión predeterminada para el sistema de transmisión.

Available Functions

void  setDriveVelocity( 
  double velocity, 
  velocityUnits units );

Parameters

Parámetro	Tipo	Descripción
velocity	double	La velocidad a la que se moverá el sistema de transmisión.
units	velocityUnits	The unit to represent the velocity: velocityUnits::pct — percent rpm — rotations per minute dps — degrees per second

Return Values

Esta función no devuelve ningún valor.

Notes

• The drive velocity applies to all subsequent drivetrain movement functions (such as drive and driveFor) unless a specific velocity is provided in the function call.

Examples

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

establecerVelocidadDeGiro

Establece la velocidad de giro predeterminada para la transmisión.

Available Functions

void  setTurnVelocity( 
  double velocity, 
  velocityUnits units );

Parameters

Parámetro	Tipo	Descripción
velocity	double	La velocidad a la que girará el sistema de transmisión.
units	velocityUnits	The units representing the velocity: rpm — rotations per minute dps — degrees per second percent / pct — percent

Return Values

Esta función no devuelve ningún valor.

Notes

• The turn velocity applies to all subsequent drivetrain turning functions (such as turn and turnFor) unless a specific velocity is provided in the function call.

Examples

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

establecerDetención

Establece el modo de parada predeterminado para el sistema de transmisión.

Available Functions

void setStopping( 
  brakeType mode );

Parameters

Parámetro	Tipo	Descripción
mode	brakeType	The brake type to use when stopping the drivetrain: brake — Stops immediately. coast — Slows gradually to a stop. hold — Stops and resists movement using motor feedback.

Return Values

Esta función no devuelve ningún valor.

Notes

• The stopping mode applies to all subsequent stop calls unless a specific stopping mode is provided in the function call.

establecerTiempoDeEspera

Establece un límite de tiempo para que el sistema de transmisión intente alcanzar una distancia o ángulo determinado. Si el sistema no puede completar el movimiento dentro del tiempo establecido, se detendrá automáticamente y continuará con la siguiente función.

Available Functions

void  setTimeout( 
  int32_t time, 
  timeUnits units );

Parameters

Parámetro	Tipo	Descripción
time	int32_t	The maximum number of seconds a drivetrain function will run before stopping and moving to the next function.
units	timeUnits	The unit that represents the time: sec — seconds msec — milliseconds

Return Values

Esta función no devuelve ningún valor.

Notes

• The timeout only applies to target-based drivetrain movement functions (such as driveFor and turnFor).

Examples

// Start turning if driving takes too long
myDrivetrain.setTimeout(1, seconds);
myDrivetrain.driveFor(forward, 25, inches);
myDrivetrain.turnFor(right, 90, degrees);

estáHecho

Returns a Boolean indicating whether no target-based drivetrain movement (such as driveFor or turnFor) is currently in progress.

Available Functions

bool isDone( void );

Parameters

Esta función no acepta ningún parámetro.

Return Values

Devuelve un valor booleano que indica si el sistema de transmisión no se está moviendo:

• true — The drivetrain is not moving.
• false — The drivetrain is moving.

Notes

• isDone is compatible with target-based drivetrain movements (functions that move to a target, such as driveFor and turnFor).

• isDone is not compatible with functions such as drive and turn, since they do not use target-based movement.

se está mudando

Returns a Boolean indicating whether the drivetrain is currently executing a target-based movement (such as driveFor or turnFor).

Available Functions

virtual bool isMoving( void );

Parameters

Esta función no acepta ningún parámetro.

Return Values

Devuelve un valor booleano que indica si el sistema de transmisión está en movimiento:

• true — The drivetrain is moving.
• false — The drivetrain is not moving.

Notes

• isMoving is compatible with target-based drivetrain movements (functions that move to a target, such as driveFor and turnFor).

• isMoving is not compatible with functions such as drive and turn, since they do not use target-based movement.

velocidad

Devuelve la velocidad de la transmisión.

Available Functions

double velocity( 
  velocityUnits units );

Parameters

Parámetro	Tipo	Descripción
units	velocityUnits	The units that represent the velocity: rpm — rotations per minute dps — degrees per second percent / pct — percent

Return Values

Returns a double indicating the velocity of the drivetrain in the units specified by the units parameter.

Examples

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

actual

Devuelve la cantidad de corriente eléctrica que está utilizando el sistema de transmisión.

Available Functions

1 — Devuelve la corriente eléctrica del tren motriz en amperios.

double current(
    currentUnits units = currentUnits::amp );

2 — Devuelve la corriente eléctrica del tren motriz como un porcentaje del máximo.

double current(
    percentUnits units );

Parameters

Parámetro	Tipo	Descripción
units	currentUnits	The units that represent the current: amp — amps
units	percentUnits	The units that represent the current: percent / pct — percent

Return Values

Returns a double indicating the amount of electrical current the drivetrain is using in the units specified by the units parameter.

fuerza

Devuelve el consumo de energía del sistema de transmisión.

Available Functions

double power( 
  powerUnits units = powerUnits::watt );

Parameters

Parámetro	Tipo	Descripción
units	powerUnits	The units that represent the power: watt (default) — watts

Return Values

Devuelve un valor de tipo double que representa el consumo de energía del sistema de transmisión en vatios.

esfuerzo de torsión

Devuelve el par motor producido por la transmisión.

Available Functions

double torque( 
  torqueUnits units = torqueUnits::nm );

Parameters

Parámetro	Tipo	Descripción
units	torqueUnits	The units representing the torque: Nm (default) — newton meters InLb — inch pounds

Return Values

Returns a double indicating the torque produced by the drivetrain in the units specified by the units parameter.

eficiencia

Restaura la eficiencia del sistema de transmisión.

Available Functions

double efficiency( 
  percentUnits units = percentUnits::pct );

Parameters

Parámetro	Tipo	Descripción
units	percentUnits	The units that represent the efficiency: percent / pct — percent

Return Values

Devuelve un valor de tipo double que representa la eficiencia del sistema de transmisión como porcentaje.

temperatura

Devuelve la temperatura media de los motores utilizados por el sistema de transmisión.

Available Functions

double temperature( 
  percentUnits units );

Parameters

Parámetro	Tipo	Descripción
units	percentUnits	The units that represent the temperature: percent / pct — percent

Return Values

Devuelve un valor de tipo double que indica la temperatura media de los motores utilizados por el sistema de transmisión como porcentaje.

Notes

• A returned value of 50% indicates that the average motor temperature is approximately 45°C (113°F).

• The typical operating temperature range for drivetrain motors is approximately 20°C (68°F) to 70°C (158°F).

Voltaje

Devuelve el voltaje eléctrico del sistema de transmisión.

Available Functions

double  voltage( 
  voltageUnits units = voltageUnits::volt );

Parameters

Parámetro	Tipo	Descripción
units	voltageUnits	The units that represent the voltage: volt (default) — volts voltageUnits::mV — millivolts

Return Values

Returns a double indicating the voltage of the drivetrain in the units specified by the units parameter.