Drivetrain#

Introduction#

The Drivetrain controls a robot’s movement, allowing it to drive forward, turn, and stop with precision.

It can also function as a smart drivetrain when configured with a Gyro Sensor or a Brain Inertial Sensor.

Below is a list of all methods:

Methods – Control the movement and behavior of the drivetrain.

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

  • drive_for – Moves the drivetrain for a set distance.

  • turn – Turns the drivetrain left or right indefinitely.

  • turn_for – Turns the drivetrain for a set distance.

  • turn_to_heading – Turns the smart drivetrain to a specified heading using sensors.

  • turn_to_rotation – Turns the smart drivetrain to a specific rotational value.

  • stop – Stops a drivetrain with configurable behavior.

  • calibrate_drivetrain – Calibrate the Inertial Sensor.

  • set_drive_velocity – Sets the default moving velocity for the drivetrain.

  • set_turn_velocity – Sets the turning moving velocity for the drivetrain.

  • set_stopping – Sets the stop behavior (brake, coast, or hold).

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

  • get_timeout – Returns a drivetrain’s current timeout duration.

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

  • set_rotation – Sets a smart drivetrain’s rotational value to a specific value.

  • calibrate – Calibrates a smart drivetrain’s configured Gyro Sensor or Brain Inertial Sensor.

  • is_moving – Returns whether a drivetrain is currently moving.

  • is_turning – Returns whether a drivetrain is currently turning.

  • is_done – Returns whether a drivetrain is currently not moving.

  • heading – Returns a smart drivetrain’s current heading.

  • rotation – Returns a smart drivetrain’s current rotational value.

  • velocity – Returns a drivetrain’s current velocity.

  • current –Returns the current of the drivetrain.

  • power – Returns the amount of power being used by a drivetrain.

  • torque – Returns the torque generated by a drivetrain.

  • efficiency – Returns the efficiency of a drivetrain.

  • set_turn_threshold – Sets the turn threshold for a smart drivetrain.

  • set_turn_constant – Sets the turn constant for a smart drivetrain.

  • set_turn_direction_reverse – Sets a smart drivetrain to have its direction be reversed.

Constructors – Manually initialize and configure the drivetrain.

  • DriveTrain – Creates a basic drivetrain.

  • SmartDrive – Creates a drivetrain configured with a Gyro Sensor or Brain Inertial Sensor.

drive#

drive moves the drivetrain in a specified direction indefinitely.

Usage:
drive(direction, velocity, units)

Parameters

Description

direction

The direction in which to drive:

  • FORWARD
  • REVERSE

velocity

Optional. The velocity at which the drivetrain will move as a float or integer. If the velocity is not specified, the default velocity is 50%.

units

Optional. The unit that represents the velocity:

  • PERCENT
  • RPM (Rotations per minute)
  • VelocityUnits.DPS (Degrees per second)

 
# Drive forward then stop
drivetrain.drive(FORWARD)
wait(2, SECONDS)
drivetrain.stop()


# Drive slowly in reverse then stop
drivetrain.drive(REVERSE, 20, PERCENT)
wait(2, SECONDS)
drivetrain.stop()

drive_for#

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

Usage:
drive_for(direction, distance, units, velocity, units_v, 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

The unit that represents the distance:

  • MM – Millimeters
  • INCHES (default)
  • DistanceUnits.CM – Centimeters

velocity

Optional. The velocity at which the drivetrain will move as a float or integer. If the velocity is not specified, the default velocity is 50%.

units_v

Optional. The unit that represents the velocity:

  • PERCENT
  • RPM (default) – Rotations per minute
  • VelocityUnits.DPS – Degrees per second

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.

 
# Drive forward and backward
drivetrain.drive_for(FORWARD, 10)
drivetrain.drive_for(REVERSE, 10)


# Quickly drive forward and backward
drivetrain.drive_for(FORWARD, 200, MM, 100, PERCENT)
drivetrain.drive_for(REVERSE, 200, MM, 100, PERCENT)

turn#

turn turns the drivetrain left or right indefinitely.

Usage:
turn(direction, velocity, units)

Parameters

Description

direction

The direction in which to turn:

  • LEFT
  • RIGHT

velocity

Optional. The velocity at which the drivetrain will turn as a float or integer. If the velocity is not specified, the default velocity is 50%.

units

Optional. The unit that represents the velocity:

  • PERCENT
  • RPM (default) – Rotations per minute
  • VelocityUnits.DPS – Degrees per second

 
# Turn right and left, then stop
drivetrain.turn(RIGHT)
wait(2, SECONDS)
drivetrain.turn(LEFT)
wait(2, SECONDS)
drivetrain.stop()


# Quickly turn right and left, then stop
drivetrain.turn(RIGHT, 100, PERCENT)
wait(2, SECONDS)
drivetrain.turn(LEFT, 100, PERCENT)
wait(2, SECONDS)
drivetrain.stop()

turn_for#

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

Usage:
turn_for(direction, angle, units, velocity, units_v, wait)

Parameters

Description

direction

The direction in which to turn:

  • LEFT
  • RIGHT

angle

The amount of degrees the drivetrain will turn as a float or integer.

units

The unit that represents the rotational value:

  • DEGREES (default)
  • TURNS

velocity

Optional. The velocity at which the drivetrain will turn as a float or integer. If the velocity is not specified, the default velocity is 50%.

units_v

Optional. The unit that represents the velocity:

  • PERCENT
  • RPM (default) – Rotations per minute
  • VelocityUnits.DPS – Degrees per second

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.

 
# Turn the robot right and left
drivetrain.turn_for(RIGHT, 90, DEGREES)
wait(1, SECONDS)
drivetrain.turn_for(LEFT, 90, DEGREES)


# Quickly turn the robot right and left
drivetrain.turn_for(RIGHT, 90, DEGREES, 100, PERCENT)
wait(1, SECONDS)
drivetrain.turn_for(LEFT, 90, DEGREES, 100, PERCENT)

turn_to_heading#

turn_to_heading turns a smart drivetrain to a specified heading.

Note: This method will only work with a drivetrain that has been configured with a Gyro Sensor or Brain Inertial Sensor.

Usage:
turn_to_heading(angle, units, velocity, units_v, wait)

Parameters

Description

angle

The heading to turn the drivetrain to face as a float or integer.

units

The unit that represents the rotational value:

  • DEGREES

velocity

Optional. The velocity at which the motor or motor group will spin as a float or integer. If the velocity is not specified, the default velocity is 50%.

units_v

Optional. The unit that represents the velocity:

  • PERCENT
  • RPM – Rotations per minute
  • VelocityUnits.DPS – Degrees per second

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.

 
# Turn to face the cardinal directions
drivetrain.turn_to_heading(90, DEGREES)
wait(1, SECONDS)
drivetrain.turn_to_heading(180, DEGREES)
wait(1, SECONDS)
drivetrain.turn_to_heading(270, DEGREES)
wait(1, SECONDS)
drivetrain.turn_to_heading(0, DEGREES)


# Turn twice slowly
drivetrain.turn_to_heading(90, DEGREES, 20, PERCENT)
wait(1, SECONDS)
drivetrain.turn_to_heading(180, DEGREES, 20, PERCENT)

turn_to_rotation#

turn_to_rotation turns a smart drivetrain to a specified rotational value.

Note: This method will only work with a drivetrain that has been configured with a Gyro Sensor or Brain Inertial Sensor.

Usage:
turn_to_rotation(angle, units, velocity, units_v, wait)

Parameters

Description

angle

The rotational value to turn the drivetrain to face as a float or integer.

units

The unit that represents the rotational value:

  • DEGREES
  • TURNS

velocity

Optional. The velocity at which the motor or motor group will spin as a float or integer. If the velocity is not specified, the default velocity is 50%.

units_v

Optional. The unit that represents the velocity:

  • PERCENT
  • RPM – Rotations per minute
  • VelocityUnits.DPS – Degrees per second

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.

 
# Turn left, then spin in a circle 
# clockwise and face right
drivetrain.turn_to_rotation(-90, DEGREES)
wait(1, SECONDS)
drivetrain.turn_to_rotation(450, DEGREES)


# Turn left then slowly spin in a 
# circle clockwise
drivetrain.turn_to_rotation(-90, DEGREES)
wait(1, SECONDS)
drivetrain.turn_to_rotation(450, DEGREES, 20, PERCENT)

stop#

stop stops a drivetrain.

Usage:
stop(mode)

Parameters

Description

mode

Optional. How the drivetrain will stop:

  • COAST – Slows gradually to a stop.
  • BRAKE – Stops immediately.
  • HOLD – Stops and resists movement using motor feedback.

 
# Drive forward then stop
drivetrain.drive(FORWARD)
wait(2, SECONDS)
drivetrain.stop()


# Drive forward and coast to a stop
drivetrain.set_drive_velocity(100, PERCENT)
drivetrain.drive(FORWARD)
wait(2, SECONDS)
drivetrain.stop(COAST)

calibrate_drivetrain#

calibrate calibrates the Gyro Sensor or Brain Inertial Sensor that is configured with the drivetrain. Calibration should be done when the drivetrain is not moving.

Note: The Brain will automatically calibrate at the start of each project.

Usage:
calibrate_drivetrain()

Parameters

Description

This method has no parameters.

 
# Calibrate the DriveTrain after turning
drivetrain.turn_for(RIGHT, 90, DEGREES)
calibrate_drivetrain()
brain.screen.print("Done!")

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 if a specific velocity is not provided.

Usage:
set_drive_velocity(velocity, units)

Parameters

Description

velocity

The velocity at which the drivetrain will move as a float or integer.

units

Optional. The unit that represents the velocity:

  • PERCENT
  • RPM (Rotations per minute)
  • VelocityUnits.DPS (Degrees per second)

 
# Drive forward at different velocities
# Default velocity
drivetrain.drive_for(FORWARD, 150, MM)
wait(1, SECONDS)
# Drive slower
drivetrain.set_drive_velocity(20, PERCENT)
drivetrain.drive_for(FORWARD, 150, MM)
wait(1, SECONDS)
# Drive faster
drivetrain.set_drive_velocity(100, PERCENT)
drivetrain.drive_for(FORWARD, 150, MM)

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 if a specific velocity is not provided.

Usage:
set_turn_velocity(velocity, units)

Parameters

Description

velocity

The velocity at which the drivetrain will turn as a float or integer.

units

Optional. The unit that represents the velocity:

  • PERCENT
  • RPM (Rotations per minute)
  • VelocityUnits.DPS (Degrees per second)

 
# Turn at different velocities
# Default velocity
drivetrain.turn_for(RIGHT, 360)
wait(1, SECONDS)
# Turn slower
drivetrain.set_turn_velocity(20, PERCENT)
drivetrain.turn_for(RIGHT, 360)
wait(1, SECONDS)
# Turn faster
drivetrain.set_turn_velocity(100, PERCENT)
drivetrain.turn_for(RIGHT, 360)

set_stopping#

set_stopping sets the stopping mode for a drivetrain.

Usage:
set_stopping(mode)

Parameters

Description

mode

How the drivetrain will stop:

  • BRAKE – Stops immediately.
  • COAST – Slows gradually to a stop.
  • HOLD – Stops and resists movement using motor feedback.

 
# Drive forward and coast to a stop
drivetrain.set_drive_velocity(100, PERCENT)
drivetrain.set_stopping(COAST)
drivetrain.drive(FORWARD)
wait(2, SECONDS)
drivetrain.stop()

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 is used to prevent drivetrain functions that do not reach their target position from stopping the execution of the rest of the project.

Usage:
set_timeout(value, units)

Parameters

Description

value

The maximum number of seconds a motor 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
  • MSEC (default) – Milliseconds 

# Turn right after driving forward
drivetrain.set_timeout(1, SECONDS)
drivetrain.drive_for(FORWARD, 25, INCHES)
drivetrain.turn_for(RIGHT, 90)

get_timeout#

get_timeout returns the current timeout for a drivetrain in milliseconds.

Usage:
get_timeout()

Parameters

Description

This method has no parameters.

 
# Display the timeout period after moving forward
drivetrain.set_timeout(1000, MSEC)
drivetrain.drive_for(FORWARD, 25, INCHES)
brain.screen.print("Waited " + "{:.0f}".format(drivetrain.get_timeout()) + " msec")
drivetrain.turn_for(RIGHT, 90)

set_heading#

set_heading sets the heading of a smart drivetrain.

Note: This method will only work with a drivetrain that has been configured with a Gyro Sensor or Brain Inertial Sensor.

Usage:
set_heading(heading, units)

Parameters

Description

heading

The new heading as a float or integer.

units

Optional. The unit that represents the heading:

  • DEGREES (default)
  • TURNS

 
# Face the new 0 degrees
drivetrain.set_heading(90, DEGREES)
drivetrain.turn_to_heading(0, DEGREES)

set_rotation#

set_rotation method sets the rotation for the smart drivetrain.

Note: This method will only work with a drivetrain that has been configured with a Gyro Sensor or Brain Inertial Sensor.

Usage:
set_rotation(rotation, units)

Parameters

Description

rotation

The new rotational value as a float or integer.

units

Optional. The unit that represents the heading:

  • DEGREES (default)
  • TURNS

 
# Spin counterclockwise two times
drivetrain.set_rotation(720, DEGREES)
drivetrain.turn_to_rotation(0, DEGREES)

is_moving#

is_moving returns a Boolean indicating whether a drivetrain is currently moving.

  • True – The drivetrain is moving.

  • False – The drivetrain is not moving.

Usage:
is_moving()

Parameters

Description

This method has no parameters.

 
# Stop the Drivetrain after moving 
# forward for some time
drivetrain.drive_for(FORWARD, 200, MM, wait=False)
while drivetrain.is_moving():
    brain.screen.set_cursor(1, 1)
    brain.screen.print("Still Moving...")
    wait (0.1, SECONDS)
    brain.screen.clear_screen()
brain.screen.set_cursor(1, 1)
brain.screen.print("Done!")

is_turning#

is_moving returns a Boolean indicating whether a smart drivetrain is currently turning.

  • True – The smart drivetrain is turning.

  • False – The smart drivetrain is not turning.

Note: This method will only work with a drivetrain that has been configured with a Gyro Sensor or Brain Inertial Sensor.

Usage:
is_turning()

Parameters

Description

This method has no parameters.

 
# Detect when the Drivetrain is still turning
drivetrain.turn_for(RIGHT, 180, DEGREES, wait=False)
while drivetrain.is_turning():
    brain.screen.clear_screen()
    brain.screen.set_cursor(1, 1)
    brain.screen.print("Turning...")
    wait (0.1, SECONDS)
brain.screen.set_cursor(1, 1)
brain.screen.print("Done!")

is_done()#

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

  • True – The drivetrain is not moving.

  • False – The drivetrain is moving.

Usage:
is_done()

Parameters

Description

This method has no parameters.

 
# Stop the Drivetrain and turn right 
# after moving forward for some time
drivetrain.drive_for(FORWARD, 200, MM, wait=False)
while True:
    if drivetrain.is_done():
        drivetrain.turn_for(RIGHT, 360)
        break
    else:
        brain.screen.set_cursor(1, 1)
        brain.screen.print("Still Moving...")
        wait (0.1, SECONDS)
        brain.screen.clear_screen()

heading#

heading returns the current heading of a smart drivetrain as a float.

Note: This method will only work with a drivetrain that has been configured with a Gyro Sensor or Brain Inertial Sensor.

Usage:
heading(units)

Parameters

Description

units

Optional. The unit that represents the rotational value:

  • DEGREES (default)
  • TURNS

 
# Display the heading after turning
drivetrain.turn_for(RIGHT, 450, DEGREES)
brain.screen.print("Heading: ")
brain.screen.print(drivetrain.heading())

rotation#

rotation returns the current rotational value of a smart drivetrain as a float.

Note: This method will only work with a drivetrain that has been configured with a Gyro Sensor or Brain Inertial Sensor.

Parameters

Description

units

Optional. The unit that represents the rotational value:

  • DEGREES (default)
  • TURNS

 
# Display the rotation after turning
drivetrain.turn_for(RIGHT, 450, DEGREES)
brain.screen.print("Rotation: ")
brain.screen.print(drivetrain.rotation())

velocity#

velocity returns the current velocity of a drivetrain as a float.

Parameters

Description

units

Optional. The unit that represents the velocity:

  • PERCENT
  • RPM – Rotations per minute
  • VelocityUnits.DPS – Degrees per second

 
# Display the robot's velocity before 
# and after moving
brain.screen.print(drivetrain.velocity())
brain.screen.next_row()
drivetrain.drive(FORWARD)
wait(1, SECONDS)
brain.screen.print(drivetrain.velocity())
drivetrain.stop()

current#

current returns the current of the drivetrain in amps.

Usage:
drivetrain.current(units)

Parameters

Description

units

Optional. The unit that represents the current:

  • CurrentUnits.AMP – Amps 

# Example coming soon

set_turn_threshold#

set_turn_threshold method 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.

Note: This method will only work with a drivetrain that has been configured with a Gyro Sensor or Brain Inertial Sensor.

Usage:
set_turn_threshold(value)

Parameters

Description

value

The turn threshold to set in degrees as a float or integer. The default turn threshold is 1 degree.

 
# Turn and display the heading with different turn thresholds
brain.screen.set_font(FontType.PROP20)
brain.screen.print("Default threshold: ")
drivetrain.turn_for(RIGHT, 90, DEGREES)
brain.screen.print(drivetrain.heading())
brain.screen.next_row()
wait(2, SECONDS)
brain_inertial.reset_heading()
brain.screen.print("20 degree Threshold: ")
drivetrain.set_turn_threshold(20)
drivetrain.turn_for(RIGHT, 90, DEGREES)
brain.screen.print(drivetrain.heading())

set_turn_constant#

set_turn_constant 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.

Note: This method will only work with a drivetrain that has been configured with a Gyro Sensor or Brain Inertial Sensor.

Usage:
set_turn_constant(value)

Parameters

Description

value

The new turn constant in the range 0.1 - 4.0. The default is 1.0.

 
# Turn and display the heading with different turn constants
brain.screen.set_font(FontType.PROP20)
brain.screen.print("Default Constant: ")
drivetrain.turn_for(RIGHT, 90, DEGREES)
brain.screen.print(drivetrain.heading())
brain.screen.next_row()
wait(2, SECONDS)
brain_inertial.reset_heading()
brain.screen.print("0.2 Turn Constant: ")
drivetrain.set_turn_constant(0.2)
drivetrain.turn_for(RIGHT, 90, DEGREES)
brain.screen.print(drivetrain.heading())

Constructors#

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

For the examples below, the configured drivetrain will be named drivetrain_1 and will be used in all subsequent examples throughout this API documentation when referring to DriveTrain and SmartDrive class methods.

Note: In order to create a drivetrain, at least two Motor or MotorGroup objects must already have been created.

Drivetrain#

DriveTrain creates a drivetrain without a Gyro Sensor or Brain Inertial Sensor.

Usage:
DriveTrain(lm, rm, wheelTravel, trackWidth, wheelBase, units, externalGearRatio)

Parameter

Description

lm

The name of a previously created left motor or motor group.

rm

The name of a previously created right motor or motor group.

wheelTravel

Optional. The circumference of the drivetrain’s wheels. The default is 300 millimeters.

trackWidth

Optional. The track width of the drivetrain. The default is 320 millimeters.

wheelBase

Optional. The wheel base of the drivetrain. The default is 320 millimeters.

units

Optional. The unit that represents the wheelTravel, trackWidth, and wheelBase values:

  • MM (default) – Millimeters
  • INCHES
  • DistanceUnits.CM – Centimeters

externalGearRatio

Optional. The gear ratio used to compensate drive distances if gearing is used as an integer.

 
# Create the Motors
left_drive_smart = Motor(Ports.PORT1, 1.0, False)
right_drive_smart = Motor(Ports.PORT2, 1.0, True)
# Construct a 2-Motor Drivetrain "drivetrain" with the
# DriveTrain class
drivetrain = DriveTrain(left_drive_smart, right_drive_smart, 200, 173, 76, MM, 1)

drivetrain.drive_for(FORWARD, 200, MM)
drivetrain.drive_for(REVERSE, 200, MM)


# Create the left Motors and group them under the
# MotorGroup "left_motors"
left_motor_a = Motor(Ports.PORT1, 1.0, False)
left_motor_b = Motor(Ports.PORT2, 1.0, False)
left_drive_smart = MotorGroup(left_motor_a, left_motor_b)
# Create the right Motors and group them under the
# MotorGroup "right_motors"
right_motor_a = Motor(Ports.PORT3, 1.0, True)
right_motor_b = Motor(Ports.PORT4, 1.0, True)
right_drive_smart = MotorGroup(right_motor_a, right_motor_b)
# Construct a 4-Motor Drivetrain "drivetrain" with the
# DriveTrain class
drivetrain = DriveTrain(left_drive_smart, right_drive_smart, 200, 173, 76, MM, 1)

drivetrain.drive_for(FORWARD, 200, MM)
drivetrain.drive_for(REVERSE, 200, MM)

Smart Drivetrain#

SmartDrive creates a drivetrain with a Gyro Sensor or Brain Inertial Sensor.

Usage:
SmartDrive(lm, rm, g, wheelTravel, trackWidth, wheelBase, units, externalGearRatio)

Parameter

Description

lm

The name of a previously created left motor or motor group.

rm

The name of a previously created right motor or motor group.

g

The name of a previously created Inertial Sensor or Gyro Sensor.

wheelTravel

Optional. The circumference of the drivetrain’s wheels. The default is 300 millimeters.

trackWidth

Optional. The track width of the drivetrain. The default is 320 millimeters.

wheelBase

Optional. The wheel base of the drivetrain. The default is 320 millimeters.

units

Optional. The unit that represents the wheelTravel, trackWidth, and wheelBase values:

  • MM (default) – Millimeters
  • INCHES
  • DistanceUnits.CM – Centimeters

externalGearRatio

Optional. The gear ratio used to compensate drive distances if gearing is used as an integer.

 
# Construct a SmartDrive Drivetrain with 2 motors
brain_inertial = Inertial()
left_drive_smart = Motor(Ports.PORT1, 1.0, False)
right_drive_smart = Motor(Ports.PORT6, 1.0, True)

drivetrain = SmartDrive(left_drive_smart, right_drive_smart, brain_inertial, 200)

drivetrain.drive_for(FORWARD, 200, MM)
drivetrain.drive_for(REVERSE, 200, MM)

If making a smart drivetrain with multiple motors, you need to create the Motors separately before grouping them into a Motor Group.

# Construct a SmartDrive Drivetrain with 4 motors
brain_inertial = Inertial()
left_motor_a = Motor(Ports.PORT1, 1.0, False)
left_motor_b = Motor(Ports.PORT2, 1.0, False)
left_drive_smart = MotorGroup(left_motor_a, left_motor_b)

right_motor_a = Motor(Ports.PORT5, 1.0, True)
right_motor_b = Motor(Ports.PORT6, 1.0, True)
right_drive_smart = MotorGroup(right_motor_a, right_motor_b)

drivetrain = SmartDrive(left_drive_smart, right_drive_smart, brain_inertial, 200)

drivetrain.drive_for(FORWARD, 200, MM)
drivetrain.drive_for(REVERSE, 200, MM)
On this page