Drivetrain#

Functions #

drivetrain.drive()#

This is a non-waiting command and allows any subsequent commands to execute without delay.

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.

Parameters	Description
direction	The direction for the Drivetrain to move in: `FORWARD` or `REVERSE`.

Returns: None.

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.

Parameters	Description
direction	The direction for the Drivetrain to move in: `FORWARD` or `REVERSE`.
distance	The value for the Drivetrain to move.
units	The units that the distance will use: `MM` (Millimeters) or `INCHES`.
wait	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`.

Returns: None.

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.

Parameters	Description
object	The object that the VR Rover will drive to: `BASE`, `ENEMY`, or `MINERALS`.
wait	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.

Returns: None.

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.

Parameters	Description
object	The object that the VR Rover will turn and drive to: `BASE`, `ENEMY`, or `MINERALS`.
wait	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.

Returns: None.

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.

This is a non-waiting command and allows any subsequent commands to execute without delay.

Parameters	Description
direction	The direction for the Drivetrain to turn to: `RIGHT` or `LEFT`.

Returns: None.

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) command is used to turn the Drivetrain for a given angle.

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

Parameters	Description
direction	The direction for the Drivetrain to turn towards: `LEFT` or `RIGHT`.
angle	The angle for the Drivetrain to turn by.
units	The unit for the Drivetrain, `DEGREES`.
wait	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`.

Returns: None.

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.

Parameters	Description
object	The object that the VR Rover will turn to: `BASE`, `ENEMY`, or `MINERALS`.
wait	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.

Returns: None.

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.

Parameters	Description
angle	The heading(angle) for the Drivetrain to turn to.
units	The unit for the Drivetrain, `DEGREES`.
wait	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`.

Returns: None.

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.

Parameters	Description
angle	The heading(angle) for the Drivetrain to turn to.
units	The unit for the Drivetrain, `DEGREES`.
wait	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`.

Returns: None.

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

drivetrain.stop()#

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

This is a non-waiting command and allows any subsequent commands to execute without delay.

Returns: None.

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.

This is a non-waiting command and allows any subsequent commands to execute without delay.

Parameters	Description
velocity	The Drivetrain velocity, from 0 to 100%.
units	The unit for the Drivetrain’s velocity, `PERCENT`.

Returns: None.

By default, the Drivetrain velocity is set to 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.

This is a non-waiting command and allows any subsequent commands to execute without delay.

Parameters	Description
velocity	The Drivetrain velocity, from 0 to 100%.
units	The unit for the Drivetrain’s turn velocity, `PERCENT`.

Returns: None.

By default, the Drivetrain’s turn velocity is set to 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.

This is a non-waiting command and allows any subsequent commands to execute without delay.

Parameters	Description
angle	The value that the Drivetrain’s Gyro heading will be set to.
units	The unit for the Drivetrain, `DEGREES`.

Returns: None.

In this example, the Drivetrain should not move because the heading is already 90 degrees.

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.

This is a non-waiting command and allows any subsequent commands to execute without delay.

Parameters	Description
angle	The integer that the Drivetrain’s angle of rotation heading will be set to.
units	The angle of rotation’s unit, `DEGREES`.

Returns: None.

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)