drivetrain

Initializing the drivetrain Class

A drivetrain is created by using the following constructor:

The drivetrain constructor creates a drivetrain object.

Parameter	Description
lm	The name of the Left Motor or Motor Group.
rm	The name of the Right Motor or Motor Group.
wheelTravel	The circumference of the driven wheels. The default is 300 mm.
trackWidth	The track width of the drivetrain. The default is 320 mm.
wheelBase	The wheel base of the Drivetrain. The default is 320 mm.
units	A valid DistanceUnit for the units that wheelTravel, trackWidth and wheelBase are specified in. The default is MM.
externalGearRatio	The gear ratio used to compensate drive distances if gearing is used.

Motors and/or Motor Groups must be created first before they can be used to create an object with the drivetrain Class constructor.

// Create the Motors.
motor left_motor = motor(PORT1,false);
motor right_motor = motor(PORT2, true);
// Construct a 2-Motor drivetrain "Drivetrain" with the
// drivetrain class.
drivetrain Drivetrain = drivetrain(left_motor, right_motor, 259.34, 320, 40, mm, 1);

If making a 4-Motor Drivetrain, you need to create the Motors separately before grouping them into a Motor Group.

// Create the left Motors and group them under the
// motor_group "leftMotors".
motor leftMotorA = motor(PORT1, false);
motor leftMotorB = motor(PORT2, false);
motor_group leftMotors = motor_group(leftMotorA, leftMotorB);
// Create the right Motors and group them under the
// MotorGroup "rightMotors".
motor rightMotorA = motor(PORT3, true);
motor rightMotorB = motor(PORT4, true);
motor_group rightMotors = motor_group(rightMotorA, rightMotorB);
// Construct a 4-Motor drivetrain "Drivetrain" with the
// drivetrain class.
drivetrain Drivetrain= drivetrain(leftMotors, rightMotors, 259.34, 320, 40, mm, 1);

This Drivetrain object will be used in all subsequent examples throughout this API documentation when referring to drivetrain class methods.

To incorporate a Gyro Sensor for enhanced turning functionality in your drivetrain, you can include it when creating an object using the smartdrive Class constructor.

Class Methods

drive()

This is a non-blocking method and allows the next method to run without delay.

This method is called in the following ways:

The drive(dir) method is used to drive the drivetrain in the specified direction forever at the default velocity as specified by the setDriveVelocity() method, until another drivetrain movement method is used, or the project is stopped.

Parameters	Description
dir	A valid DirectionType.

Returns: None.

// Drive the drivetrain forward.
Drivetrain.drive(forward);

The drive(dir, velocity, units) method is used to drive the drivetrain in the specified direction forever at a specified velocity, until another drivetrain movement method is used, or the project is stopped.

Parameters	Description
dir	A valid DirectionType.
velocity	The velocity at which the drivetrain will move.
units	A valid VelocityUnit.

Returns: None.

// Drive the drivetrain forward at 100 rpm.
Drivetrain.drive(forward, 100, rpm);

driveFor()

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

This method is called in the following ways:

The driveFor(distance, units, waitForCompletion) method is used to drive the drivetrain for a specified distance at the default velocity.

Parameters	Description
distance	The distance for the drivetrain to move.
units	A valid DistanceUnit. The default is inches.
waitForCompletion	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.

Returns: A boolean value representing whether the drivetrain has reached the target distance.

// Drive the drivetrain for 10 inches.
Drivetrain.driveFor(10, inches);

The driveFor(dir, distance, units, waitForCompletion) method is used to drive the drivetrain in a specified direction for a specified distance at the default velocity.

Parameters	Description
dir	A valid DirectionType.
distance	The distance for the drivetrain to move.
units	A valid DistanceUnit. The default is inches.
waitForCompletion	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.

Returns: A boolean value representing whether the drivetrain has reached the target distance.

// Drive the drivetrain forward for 10 inches.
Drivetrain.driveFor(forward, 10, inches);

The driveFor(distance, units, velocity, units_v, waitForCompletion) method is used to drive the drivetrain for a specified distance at the default velocity.

Parameters	Description
distance	The distance for the drivetrain to move.
units	A valid DistanceUnit. The default is inches.
velocity	The velocity the drivetrain will move with. The default velocity set by the setDriveVelocity() method will be used if not provided.
units_v	A valid VelocityUnit. The default is rpm.
waitForCompletion	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.

Returns: A boolean value representing whether the drivetrain has reached the target distance.

// Drive the drivetrain for 10 inches at 100 rpm.
Drivetrain.driveFor(10, inches, 100, rpm);

The driveFor(dir, distance, units, velocity, units_v, waitForCompletion) method is used to drive the drivetrain for a specified distance at the default velocity.

Parameters	Description
dir	A valid DirectionType.
distance	The distance for the drivetrain to move.
units	A valid DistanceUnit. The default is inches.
velocity	The velocity the drivetrain will move with. The default velocity set by the setDriveVelocity() method will be used if not provided.
units_v	A valid VelocityUnit. The default is rpm.
waitForCompletion	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.

Returns: A boolean value representing whether the drivetrain has reached the target distance.

// Drive the drivetrain forward for 10 inches at 100 rpm.
Drivetrain.driveFor(forward, 10, inches, 100, rpm);

turn()

This is a non-blocking method and allows the next method to run without delay.

This method is called in the following ways:

The turn(dir) method is used to turn the robot in a specified direction at the default velocity as specified by the setTurnVelocity() method, until another drivetrain movement method is used, or the project is stopped.

Parameters	Description
dir	A valid DirectionType.

Returns: None.

// Turn the drivetrain right.
Drivetrain.turn(right);

The turn(dir, velocity, units) method is used to turn the robot in a specified direction at a specified velocity, until another drivetrain movement method is used, or the project is stopped.

Parameters	Description
dir	A valid DirectionType.
velocity	The velocity at which the drivetrain will turn. The default velocity set by The Drivetrain.setTurnVelocity() method will be used if not provided.
units	A valid VelocityUnit. The default is rpm.

Returns: None.

// Turn the drivetrain right at 100 rpm.
Drivetrain.turn(right, 100, rpm);

turnFor()

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

This method is called in the following ways:

The turnFor(angle, units, waitForCompletion) method is used to turn the drivetrain for a specific angle at the default velocity as specified by the setTurnVelocity() method.

Parameters	Description
angle	The angle for the drivetrain to turn.
units	A valid RotationUnit. The default is degrees.
waitForCompletion	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.

Returns: A boolean value representing whether the drivetrain has turned to the target angle.

// Turn the drivetrain for 90 degrees.
Drivetrain.turnFor(90, degrees);

The turnFor(dir, angle, units, waitForCompletion) method is used to turn the drivetrain for a specific angle at the default velocity as specified by the setTurnVelocity() method.

Parameters	Description
dir	A valid DirectionType.
angle	The angle for the drivetrain to turn.
units	A valid RotationUnit. The default is degrees.
waitForCompletion	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.

Returns: A boolean value representing whether the drivetrain has turned to the target angle.

// Turn the drivetrain right for 90 degrees.
Drivetrain.turnFor(right, 90, degrees);

The turnFor(angle, units, velocity, units_v, waitForCompletion) method is used to turn the drivetrain for a specific angle at a specified velocity.

Parameters	Description
angle	The angle for the drivetrain to turn.
units	A valid RotationUnit. The default is degrees.
velocity	The velocity at which the drivetrain will turn. The default velocity set by The setTurnVelocity() method will be used if not provided.
units_v	A valid VelocityUnit. The default is rpm.
waitForCompletion	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.

Returns: A boolean value representing whether the drivetrain has turned to the target angle.

// Turn the drivetrain for 90 degrees at 100 rpm.
Drivetrain.turnFor(90, degrees, 100, rpm);

The turnFor(dir angle, units, velocity, units_v, waitForCompletion) method is used to turn the drivetrain for a specific angle at a specified velocity.

Parameters	Description
dir	A valid DirectionType.
angle	The angle for the drivetrain to turn.
units	A valid RotationUnit. The default is degrees.
velocity	The velocity at which the drivetrain will turn. The default velocity set by The setTurnVelocity() method will be used if not provided.
units_v	A valid VelocityUnit. The default is rpm.
waitForCompletion	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.

Returns: A boolean value representing whether the drivetrain has turned to the target angle.

// Turn the drivetrain right for 90 degrees at 100 rpm.
Drivetrain.turnFor(right, 90, degrees, 100, rpm);

stop()

This is a non-blocking command and allows the next command to run without delay.

This method is called in the following ways:

The stop() command is used to stop the drivetrain, setting the drivetrain to 0 velocity and configuring the current stopping mode. The default Brake Type is coast, unless previously changed using the setStopping() command.

Returns: None.

// Spin Drivetrain for 2.5 seconds.
Drivetrain.spin(forward);

wait(2.5 seconds);

// Stop Drivetrain.
Drivetrain.stop();

The stop(mode) command is used to stop the drivetrain using a specific Brake Type.

Parameters	Description
mode	A valid BrakeType.

Returns: None.

// Spin Drivetrain for 2.5 seconds.
Drivetrain.spin(forward);

wait(2.5 seconds);

// Stop Drivetrain using the hold Brake Type.
Drivetrain.stop(hold);

isMoving()

The isMoving() command returns if any drivetrain motor is on and rotating to a specific target.

Returns: true if any drivetrain motor is on and rotating to a target. false if it they are done rotating to a target.

isDone()

The isDone() command returns if all drivetrain motors are done rotating to a specific target.

Returns: true if the all drivetrain motors are done rotating to a target. false if any drivetrain motor is on and rotating to a target.

setDriveVelocity()

The setDriveVelocity(velocity, units) method is used to set the default velocity for the Drivetrain. This velocity setting affects all subsequent drive method unless a specific velocity is provided in those method.

Parameters	Description
velocity	The new velocity to set as default for the Drivetrain.
units	A valid VelocityUnit or percent. The default is rpm.

Returns: None.

// Set the drivetrain to drive at a velocity of 200 rpm.
Drivetrain.setDriveVelocity(200, rpm);

setTurnVelocity()

The setTurnVelocity(velocity, units) method is used to set the default velocity for turning maneuvers in the Drivetrain. This setting specifies the speed at which the drivetrain will execute turning method unless overridden by a specific velocity in those method.

Parameters	Description
velocity	The new velocity to set as default for turning maneuvers.
units	A valid VelocityUnit or percent. The default is rpm.

Returns: None.

// Set the drivetrain to turn at a velocity of 200 RPM.
Drivetrain.setTurnVelocity(200, rpm);

setStopping()

The setStopping(mode) method is used to set the stopping mode for all motors on the Drivetrain. This setting determines the behavior of the motors when they receive a stop method or when the velocity is set to zero.

Parameters	Description
mode	A valid BrakeType.

Returns: None.

// Set the stopping mode to BRAKE.
Drivetrain.setStopping(brake);

setGearRatio()

The setGearRatio(mode) method is used to set the gear ratio for all motors on the Drivetrain.

Parameters	Description
mode	A valid GearSetting.

Returns: None.

setTimeout()

The setTimeout(time, units) method is used to set the timeout value for all motors on the Drivetrain. This setting determines how long the drivetrain will attempt to execute driveFor or turnFor method before timing out if the motors have not completed their movements.

Parameters	Description
timeout	The timeout duration to set as default for drivetrain operations.
units	A valid TimeUnit type. The default is msec.

Returns: None.

// Set the timeout for the drivetrain to 10 seconds.
Drivetrain.setTimeout(10, seconds);

velocity()

The velocity(units) method returns the average velocity of the drivetrain.

Parameters	Description
units	A valid VelocityUnit or percent. The default is rpm.

Returns: A double representing the drivetrain velocity in the specified units.

current()

The current() method returns the average current of the drivetrain.

Parameters	Description
units	The only valid units for current are amp or percent.

Returns: A double representing the drivetrain current in the specified units.

voltage()

The voltage(units) method returns the average velocity of the drivetrain.

Parameters	Description
units	A valid VoltageUnit. The default is volt.

Returns: A double representing the drivetrain voltage in the specified units.

power()

The power(units) method returns the average power of the drivetrain .

Parameters	Description
units	The only valid unit for power is watt.

Returns: A double representing the drivetrain power in the specified units.

torque()

The torque() method returns the average torque of the drivetrain.

Parameters	Description
units	A valid TorqueUnit. The default is Nm.

Returns: A double representing the drivetrain torque in the specified units.

efficiency()

The efficiency() method returns the average efficiency of the drivetrain.

Parameters	Description
units	The only valid unit for efficiency is percent.

Returns: A double representing the drivetrain efficiency in the provided units.

temperature()

The temperature() method returns the average temperature of the drivetrain.

Parameters	Description
units	The only valid unit for temperature is percent.

Returns: A double representing the drivetrain temperature in the provided units.