Transmisión#

Funciones #

drivetrain.drive()#

Este es un comando sin espera y permite que cualquier comando posterior se ejecute sin demora.

The drivetrain.drive(direction) command is used to move the Drivetrain in the specified direction forever, until a new drivetrain command is used, or the project is stopped.

Parámetros	Descripción
dirección	The direction for the Drivetrain to move in: `FORWARD` or `REVERSE`.

Devoluciones: Ninguna.

def main():
    # Drive forward.
    drivetrain.drive(FORWARD)
    # Wait 2 seconds. 
    wait(2, SECONDS)
    # Stop the Drivetrain.
    drivetrain.stop()

drivetrain.drive_for()#

The drivetrain.drive_for(direction, distance, units, wait) command is used to move the Drivetrain for a given distance.

This is can be a non-waiting or waiting command depending on if the wait parameter is used.

Parámetros	Descripción
dirección	The direction for the Drivetrain to move in: `FORWARD` or `REVERSE`.
distancia	El valor para que el tren motriz se mueva.
unidades	The units that the distance will use: `MM` (Millimeters) or `INCHES`.
esperar	Optional. The wait parameter determines whether the command will block subsequent commands (`wait=True`) or allow immediate execution (`wait=False`). If unspecified, the default for the `wait` parameter is `wait=True`.

Devoluciones: Ninguna.

def main():
    # Move the Drivetrain forward for 500 MM.
    drivetrain.drive_for(FORWARD, 500, MM)

drivetrain.drive_to()#

The drivetrain.drive_to(object, wait) command is used to drive the VR Rover the distance between it and a specified object.

This is can be a non-waiting or waiting command depending on if the wait parameter is used.

Parámetros	Descripción
objeto	The object that the VR Rover will drive to: `BASE`, `ENEMY`, or `MINERALS`.
esperar	Optional. The wait parameter determines whether the command will block subsequent commands (`wait=True`) or allow immediate execution (`wait=False`). If unspecified, the default for the `wait` parameter is `wait=True`.

If a mineral or enemy is not detected in the VR Rover’s visual range when the drivetrain.drive_to() command is called, the robot will not drive.

However, when the BASE parameter is used, the robot will drive forward the amount of distance between it and the base.

Devoluciones: Ninguna.

def main():
    # Drive the VR Rover to the nearest mineral.
    drivetrain.drive_to(MINERALS)

drivetrain.go_to()#

The drivetrain.go_to(object, wait) command is used to turn and drive the VR Rover to a specified object.

This is can be a non-waiting or waiting command depending on if the wait parameter is used.

Parámetros	Descripción
objeto	The object that the VR Rover will turn and drive to: `BASE`, `ENEMY`, or `MINERALS`.
esperar	Optional. The wait parameter determines whether the command will block subsequent commands (`wait=True`) or allow immediate execution (`wait=False`). If unspecified, the default for the `wait` parameter is `wait=True`.

If a mineral or enemy is not detected in the VR Rover’s visual range when the drivetrain.go_to() command is called, the robot will not drive.

However, when the BASE parameter is used, the robot will always turn towards the base and then drive towards it.

Devoluciones: Ninguna.

def main():
    # Turn the VR Rover towards the base and drive to it.
    drivetrain.go_to(BASE)

drivetrain.turn()#

The drivetrain.turn(direction) command is used to turn the Drivetrain right or left forever, until a new drivetrain command is used, or the project is stopped.

Este es un comando sin espera y permite que cualquier comando posterior se ejecute sin demora.

Parámetros	Descripción
dirección	The direction for the Drivetrain to turn to: `RIGHT` or `LEFT`.

Devoluciones: Ninguna.

def main():
    # Turn right.
    drivetrain.turn(RIGHT)
    # Wait 2 seconds.
    wait(2, SECONDS)
    #  Stop the Drivetrain.
    drivetrain.stop()

drivetrain.turn_for()#

The drivetrain.turn_for(direction, angle, units, wait) turns the drivetrain left or right for a specified angle or rotations.

This is can be a non-waiting or waiting command depending on if the wait parameter is used.

Parámetros	Descripción
dirección	The direction for the Drivetrain to turn towards: `LEFT` or `RIGHT`.
ángulo	El ángulo en el que debe girar el tren motriz.
unidades	The unit for the Drivetrain, `DEGREES`.
esperar	Optional. The wait parameter determines whether the command will block subsequent commands (`wait=True`) or allow immediate execution (`wait=False`). If unspecified, the default for the `wait` parameter is `wait=True`.

Devoluciones: Ninguna.

def main():
    # Turn the drivetrain to the right for 90 degrees.
    drivetrain.turn_for(RIGHT, 90, DEGREES)

drivetrain.turn_to()#

The drivetrain.turn_to(object, wait) command is used to turn the VR Rover towards a specified object.

This is can be a non-waiting or waiting command depending on if the wait parameter is used.

Parámetros	Descripción
objeto	The object that the VR Rover will turn to: `BASE`, `ENEMY`, or `MINERALS`.
esperar	Optional. The wait parameter determines whether the command will block subsequent commands (`wait=True`) or allow immediate execution (`wait=False`). If unspecified, the default for the `wait` parameter is `wait=True`.

If a mineral or enemy is not detected in the VR Rover’s visual range when the drivetrain.drive_to() command is called, the robot will not drive.

However, when the BASE parameter is used, the robot will turn to face the base.

Devoluciones: Ninguna.

def main():
    # Turn the VR Rover towards the nearest mineral.
    drivetrain.turn_to(MINERALS)

drivetrain.turn_to_heading()#

The drivetrain.turn_to_heading(angle, units, wait) command is used to turn a Drivetrain to a specific heading(angle) using the built in Gyro sensor.

This is can be a non-waiting or waiting command depending on if the wait parameter is used.

Parámetros	Descripción
ángulo	El rumbo (ángulo) hacia el que debe girar el tren motriz.
unidades	The unit for the Drivetrain, `DEGREES`.
esperar	Optional. The wait parameter determines whether the command will block subsequent commands (`wait=True`) or allow immediate execution (`wait=False`). If unspecified, the default for the `wait` parameter is `wait=True`.

Devoluciones: Ninguna.

def main():
    # Turn towards 90 degrees (East).
    drivetrain.turn_to_heading(90, DEGREES)

drivetrain.turn_to_rotation()#

The drivetrain.turn_to_rotation(angle, units, wait) command is used to turn a Drivetrain to a specific angle of rotation using the built in Gyro sensor.

This is can be a non-waiting or waiting command depending on if the wait parameter is used.

Parámetros	Descripción
ángulo	El rumbo (ángulo) hacia el que debe girar el tren motriz.
unidades	The unit for the Drivetrain, `DEGREES`.
esperar	Optional. The wait parameter determines whether the command will block subsequent commands (`wait=True`) or allow immediate execution (`wait=False`). If unspecified, the default for the `wait` parameter is `wait=True`.

Devoluciones: Ninguna.

def main():
    # Turn to 180 degrees.
    drivetrain.turn_to_rotation(180, DEGREES)

drivetrain.stop()#

The drivetrain.stop() command is used to stop the Drivetrain.

Este es un comando sin espera y permite que cualquier comando posterior se ejecute sin demora.

Devoluciones: Ninguna.

def main():
    # # Drive the Drivetrain forward.
    drivetrain.drive(FORWARD)
    # Wait 5 seconds.
    wait(5, SECONDS)
    # Stop the drivetrain.
    drivetrain.stop()

drivetrain.set_drive_velocity()#

The drivetrain.set_drive_velocity(velocity,units) command is used to set the velocity of the Drivetrain.

Este es un comando sin espera y permite que cualquier comando posterior se ejecute sin demora.

Parámetros	Descripción
velocidad	La velocidad del tren motriz, de 0 a 100%.
unidades	The unit for the Drivetrain’s velocity, `PERCENT`.

Devoluciones: Ninguna.

De forma predeterminada, la velocidad del tren motriz se establece al 50 %.

def main():
    # Set the Drivetrain's velocity to 100%.
    drivetrain.set_drive_velocity(100, PERCENT)
    # Drive forward for 200 mm.
    drivetrain.drive_for(FORWARD, 200, MM)

drivetrain.set_turn_velocity()#

The drivetrain.set_turn_velocity(VELOCITY,PERCENT) command is used to set the velocity of the Drivetrain’s turns.

Este es un comando sin espera y permite que cualquier comando posterior se ejecute sin demora.

Parámetros	Descripción
velocidad	La velocidad del tren motriz, de 0 a 100%.
unidades	The unit for the Drivetrain’s turn velocity, `PERCENT`.

Devoluciones: Ninguna.

De forma predeterminada, la velocidad de giro del tren motriz se establece al 50 %.

def main():
    # Set the Drivetrain's turn velocity to 100%.
    drivetrain.set_turn_velocity(100, PERCENT)
    # Turn 270 degrees to the left.
    drivetrain.turn_for(LEFT, 270, DEGREES)

drivetrain.set_heading()#

The drivetrain.set_heading(angle,units) command is used to sets the Drivetrain’s Gyro heading value.

Este es un comando sin espera y permite que cualquier comando posterior se ejecute sin demora.

Parámetros	Descripción
ángulo	El valor en el que se establecerá el rumbo del giro del tren motriz.
unidades	The unit for the Drivetrain, `DEGREES`.

Devoluciones: Ninguna.

En este ejemplo, el tren motriz no debería moverse porque el rumbo ya es de 90 grados.

def main():
    # Set the current heading of the VR Robot to 0 degrees.
    drivetrain.set_heading(90, DEGREES)
    # Turn right to 90 degrees. 
    drivetrain.turn_to_heading(90, DEGREES)

drivetrain.set_rotation()#

The drivetrain.set_rotation(angle, units) command is used to sets the Drivetrain’s angle of rotation.

Este es un comando sin espera y permite que cualquier comando posterior se ejecute sin demora.

Parámetros	Descripción
ángulo	El número entero en el que se establecerá el ángulo de rotación del tren motriz.
unidades	The angle of rotation’s unit, `DEGREES`.

Devoluciones: Ninguna.

def main():
    # Set the Drivetrain's angle of rotation to 600 degrees.
    drivetrain.set_rotation(600, DEGREES)
    # Turn to 0 degrees.
    drivetrain.turn_to_rotation(0, DEGREES)