Drivetrain

Introduction

The VEX GO Drivetrain uses a built-in Inertial Sensor to support precise forward, reverse, and turning movements. These methods allow the robot to move continuously or for set distances, rotate by a specified number of degrees or to a heading, and respond to changes in its orientation.

The Drivetrain category also includes configuration methods 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.

Below is a list of all methods:

Actions — Move and turn the robot.

• drive — Moves the drivetrain in a specified direction indefinitely.

• drive_for — Moves the drivetrain for a set distance.

• drive_until — Moves the drivetrain until a condition is met.

• turn — Turns the drivetrain left or right indefinitely.

• turn_for — Turns the drivetrain for a set distance.

• turn_to_heading — Turns the drivetrain to a specified heading.

• turn_to_rotation — Turns the drivetrain to a specified rotation.

• stop — Stops the drivetrain using the currently configured stopping behavior.

Mutators — Set default movement and turn speeds.

• set_drive_velocity — Sets the default drive velocity for the drivetrain.

• set_turn_velocity — Sets the turning velocity for the drivetrain.

• set_stopping — Sets the stop behavior.

• set_timeout — Limits how long a drivetrain function waits before giving up if movement is blocked.

• set_heading — Sets a drivetrain’s heading to a specific value.

• set_rotation — Sets a drivetrain’s rotation to a specific value.

Getters — Return robot state and position.

• get_heading — Returns a drivetrain’s current heading.

• get_rotation — Returns a drivetrain’s current rotation.

• get_velocity — Returns a drivetrain’s current velocity.

• get_yaw — Returns the yaw of the robot.

• get_roll — Returns the roll of the robot.

• get_pitch — Returns the pitch of the robot.

• get_crashed — Returns whether the robot has crashed.

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

Actions

drive

drive moves the drivetrain in a specified direction indefinitely.

Usage:
drivetrain.drive(direction)

Parameters	Description
direction	The direction in which to drive: FORWARD REVERSE

# Build Used: Super Code Base 2.0
def main():
    # Drive forward then stop
    drivetrain.drive(FORWARD)
    wait(2, SECONDS)
    drivetrain.stop()

# Start threads — Do not delete
start_thread(main)

drive_for

drive_for moves the drivetrain in a specified direction for a set distance.

Usage:
drivetrain.drive_for(direction, distance, units, wait)

Parameters	Description
direction	The direction in which to drive: FORWARD REVERSE
distance	The distance for the drivetrain to move as a float or integer.
units	Optional. The unit that represents the distance: MM (default) — Millimeters INCHES
wait	Optional. wait=True (default) — The project waits until drive_for is complete before executing the next line of code. wait=False — The project starts the action and moves on to the next line of code right away, without waiting for drive_for to finish.

# Build Used: Super Code Base 2.0
def main():
    # Drive back and forth
    drivetrain.drive_for(FORWARD, 100, MM)
    drivetrain.drive_for(REVERSE, 4, INCHES)
    

# Start threads — Do not delete
start_thread(main)

drive_until

drive_until moves the drivetrain forward until a certain condition is met.

Usage:
drivetrain.drive_until(condition, wait)

Parameters	Description
condition	The condition that stops the drivetrain: CRASH — Stops when the drivetrain crashes into an object. OBJECT — Stops when the Eye Sensor detects an object. An Eye Sensor must be configured for this parameter to be used.
wait	Optional. wait=True (default) — The project waits until drive_until is complete before executing the next line of code. wait=False — The project starts the action and moves on to the next line of code right away, without waiting for drive_until to finish.

# Build Used: Super Code Base 2.0
def main():
    # Turn right after a crash
    drivetrain.drive_until(CRASH)
    drivetrain.turn_for(RIGHT, 90)

# Start threads — Do not delete
start_thread(main)

turn

turn turns the drivetrain left or right indefinitely.

Usage:
drivetrain.turn(direction)

Parameters	Description
direction	The direction in which to turn: LEFT RIGHT

# Build Used: Super Code Base 2.0
def main():
    # Turn right and left, then stop
    drivetrain.turn(RIGHT)
    wait(2, SECONDS)
    drivetrain.turn(LEFT)
    wait(2, SECONDS)
    drivetrain.stop()

# Start threads — Do not delete
start_thread(main)

turn_for

turn_for turns the drivetrain left or right for a specified angle in degrees.

Usage:
drivetrain.turn_for(direction, angle, wait)

Parameters	Description
direction	The direction in which to turn: LEFT RIGHT
angle	The number of degrees the drivetrain will turn as a float or integer.
wait	Optional. wait=True (default) — The project waits until turn_for is complete before executing the next line of code. wait=False — The project starts the action and moves on to the next line of code right away, without waiting for turn_for to finish.

# Build Used: Super Code Base 2.0
def main():
    # Turn right then left
    drivetrain.turn_for(RIGHT, 90)
    drivetrain.turn_for(LEFT, 90)

# Start threads — Do not delete
start_thread(main)

turn_to_heading

turn_to_heading turns a drivetrain to a specified heading.

Usage:
drivetrain.turn_to_heading(angle, wait)

Parameters	Description
angle	The heading to turn the drivetrain to face as a float or integer in degrees.
wait	Optional. wait=True (default) — The project waits until turn_to_heading is complete before executing the next line of code. wait=False — The project starts the action and moves on to the next line of code right away, without waiting for turn_to_heading to finish.

# Build Used: Super Code Base 2.0
def main():
    # Turn to face the cardinal directions
    drivetrain.turn_to_heading(90)
    wait(1, SECONDS)
    drivetrain.turn_to_heading(180)
    wait(1, SECONDS)
    drivetrain.turn_to_heading(270)
    wait(1, SECONDS)
    drivetrain.turn_to_heading(0)

# Start threads — Do not delete
start_thread(main)

turn_to_rotation

turn_to_rotation turns a drivetrain to a specified rotation.

Usage:
drivetrain.turn_to_rotation(angle, wait)

Parameters	Description
angle	The rotation to turn the drivetrain to face as a float or integer in degrees.
wait	Optional. wait=True (default) — The project waits until turn_to_rotation is complete before executing the next line of code. wait=False — The project starts the action and moves on to the next line of code right away, without waiting for turn_to_rotation to finish.

# Build Used: Super Code Base 2.0
def main():
    # Spin around twice
    drivetrain.turn_to_rotation(720)

# Start threads — Do not delete
start_thread(main)

stop

stop stops the drivetrain using the currently configured stopping behavior.

Usage:
drivetrain.stop()

Parameters	Description
	This method has no parameters.

# Build Used: Super Code Base 2.0
def main():
    # Drive forward then stop
    drivetrain.drive(FORWARD)
    wait(2, SECONDS)
    drivetrain.stop()

# Start threads — Do not delete
start_thread(main)

Mutators

set_drive_velocity

set_drive_velocity sets the default moving velocity for a drivetrain. This velocity setting will be used for subsequent calls to any drivetrain functions.

Usage:
drivetrain.set_drive_velocity(velocity)

Parameters	Description
velocity	The velocity at which the drivetrain will move as a float or integer from 0% to 100%.

# Build Used: Super Code Base 2.0
def main():
    # Drive at different velocities
    drivetrain.drive_for(FORWARD, 150, MM)
    wait(1, SECONDS)
    # Drive slow
    drivetrain.set_drive_velocity(20)
    drivetrain.drive_for(REVERSE, 50, MM)
    wait(1, SECONDS)
    # Drive fast
    drivetrain.set_drive_velocity(100)
    drivetrain.drive_for(FORWARD, 150, MM)

# Start threads — Do not delete
start_thread(main)

set_turn_velocity

set_turn_velocity sets the default turning velocity for a drivetrain. This velocity setting will be used for subsequent calls to any drivetrain functions.

Usage:
drivetrain.set_turn_velocity(velocity)

Parameters	Description
velocity	The velocity at which the drivetrain will turn as a float or integer from 0% to 100%.

# Build Used: Super Code Base 2.0
def main():
    # Turn at different velocities
    drivetrain.turn_for(RIGHT, 180)
    wait(1, SECONDS)
    # Turn fast
    drivetrain.set_turn_velocity(100)
    drivetrain.turn_for(RIGHT, 180)

# Start threads — Do not delete
start_thread(main)

set_stopping

set_stopping sets the stopping mode for a drivetrain.

Usage:
drivetrain.set_stopping(brake)

Parameters	Description
brake	How the drivetrain will stop: BRAKE — Stops immediately. COAST — Slows gradually to a stop. HOLD — Stops and resists movement using motor feedback.

# Build Used: Super Code Base 2.0
def main():
    drivetrain.set_drive_velocity(100)
    # Drive, then coast to a stop
    drivetrain.set_stopping(COAST)
    drivetrain.drive(FORWARD)
    wait(2, SECONDS)
    drivetrain.stop()

# Start threads — Do not delete
start_thread(main)

set_timeout

set_timeout sets a time limit for how long a drivetrain function will wait to reach its target. If the drivetrain cannot complete the movement within the set time, it will stop automatically and continue with the next function.

Note: The drivetrain’s time limit prevents drivetrain functions that do not reach their target position from blocking the execution of the rest of the project.

Usage:
drivetrain.set_timeout(value, units)

Parameters	Description
value	The maximum number of seconds a drivetrain function will run before stopping and moving to the next function as an integer or float.
units	Optional. The unit that represents the time: SECONDS (default) MSEC — milliseconds

# Build Used: Super Code Base 2.0
def main():
    # Turn right after driving forward
    drivetrain.set_timeout(1, SECONDS)
    drivetrain.drive_for(FORWARD, 25, INCHES)
    drivetrain.turn_for(RIGHT, 90)

# Start threads — Do not delete
start_thread(main)

set_heading

set_heading sets the heading of the drivetrain to a specified value.

Usage:
drivetrain.set_heading(value)

Parameters	Description
value	The value to use for the new heading in degrees.

# Build Used: Super Code Base 2.0
def main():
    # Face the new 0 degree heading
    drivetrain.set_heading(90)
    drivetrain.turn_to_heading(0)

# Start threads — Do not delete
start_thread(main)

set_rotation

set_rotation sets the rotation of the drivetrain to a specified value.

Usage:
drivetrain.set_rotation(value)

Parameters	Description
value	The value to use for the new rotation in degrees.

# Build Used: Super Code Base 2.0
def main():
    # Spin counterclockwise two times
    drivetrain.set_rotation(720)
    drivetrain.turn_to_rotation(0)

# Start threads — Do not delete
start_thread(main)

Getters

get_heading

get_heading returns the current heading of the drivetrain as a float in degrees.

Usage:
drivetrain.get_heading()

Parameters	Description
	This method has no parameters.

# Build Used: Super Code Base 2.0
def main():
    # Monitor the heading while turning
    monitor_sensor("drivetrain.get_heading")
    drivetrain.turn_for(RIGHT, 450)


# Start threads — Do not delete
start_thread(main)

get_rotation

get_rotation returns the current rotation of the drivetrain as a float in degrees.

Usage:
drivetrain.get_rotation()

Parameters	Description
	This method has no parameters.

# Build Used: Super Code Base 2.0
def main():
    # Monitor the rotation while turning
    monitor_sensor("drivetrain.get_rotation")
    drivetrain.turn_for(RIGHT, 450)


# Start threads — Do not delete
start_thread(main)

get_velocity

get_velocity returns the current velocity of the drivetrain as a float in percent.

Usage:
drivetrain.get_velocity()

Parameters	Description
	This method has no parameters.

# Build Used: Super Code Base 2.0
def main():
    # Display the velocity of the robot before and while moving
    console.print("Start: ")
    console.print(drivetrain.get_velocity())
    console.new_line()
    drivetrain.drive(FORWARD)
    wait(1, SECONDS)
    console.print("Moving: ")
    console.print(drivetrain.get_velocity())
    drivetrain.stop()


# Start threads — Do not delete
start_thread(main)

get_yaw

get_yaw returns the current yaw of the robot as a float in degrees.

Usage:
drivetrain.get_yaw()

Parameters	Description
	This method has no parameters.

# Build Used: Super Code Base 2.0
def main():
    # Change the LED color based on the yaw while
    # moving the robot by hand
    monitor_sensor("drivetrain.get_yaw")
    while True:
        if drivetrain.get_yaw() > 0:
            bumper.set_color(GREEN)
        elif drivetrain.get_yaw() < 0:
            bumper.set_color(RED)
        else:
            bumper.set_color(NONE)

# Start threads — Do not delete
start_thread(main)

get_roll

get_roll returns the current roll of the robot as a float in degrees.

Usage:
drivetrain.get_roll()

Parameters	Description
	This method has no parameters.

# Build Used: Super Code Base 2.0
def main():
    # Change the LED color based on the roll while
    # moving the robot by hand
    monitor_sensor("drivetrain.get_roll")
    while True:
        if drivetrain.get_roll() > 0:
            bumper.set_color(GREEN)
        elif drivetrain.get_roll() < 0:
            bumper.set_color(RED)
        else:
            bumper.set_color(NONE)

# Start threads — Do not delete
start_thread(main)

get_pitch

get_pitch returns the current pitch of the robot as a float in degrees.

Usage:
drivetrain.get_pitch()

Parameters	Description
	This method has no parameters.

# Build Used: Super Code Base 2.0
def main():
    # Change the LED color based on the pitch while
    # moving the robot by hand
    monitor_sensor("drivetrain.get_pitch")
    while True:
        if drivetrain.get_pitch() > 0:
            bumper.set_color(GREEN)
        elif drivetrain.get_pitch() < 0:
            bumper.set_color(RED)
        else:
            bumper.set_color(NONE)

# Start threads — Do not delete
start_thread(main)

get_crashed

get_crashed returns a Boolean indicating whether or not the robot has crashed.

• True — The robot has crashed.

• False — The robot has not crashed.

Usage:
drivetrain.get_crashed()

Parameters	Description
	This method has no parameters.

# Build Used: Super Code Base 2.0
def main():
    # Drive until a crash
    drivetrain.drive(FORWARD)
    while not drivetrain.get_crashed():
        wait(50, MSEC)
    drivetrain.stop()
    drivetrain.turn_for(RIGHT, 90)

# Start threads — Do not delete
start_thread(main)

is_stopped

is_stopped returns a Boolean indicating whether a drivetrain is not currently moving.

• True — The drivetrain is stopped.

• False — The drivetrain is moving.

Note: is_stopped only detects movement from drivetrain methods that include a wait parameter.

Usage:
drivetrain.is_stopped()

Parameters	Description
	This method has no parameters.

# Build Used: Super Code Base 2.0
def main():
    # Turn when the drivetrain is done moving forward
    drivetrain.drive_for(FORWARD, 200, MM, wait=False)
    wait(0.25, SECONDS)
    while True:
        if drivetrain.is_stopped():
            drivetrain.turn_for(RIGHT, 180)
            break
        else:
            console.print("Still moving...")
            wait(0.1, SECONDS)
            console.clear()

# Start threads — Do not delete
start_thread(main)