传动系统

介绍

The drivetrain class controls how a robot drives and turns. A drivetrain is made of motors and wheels that work together to move the robot.

A drivetrain does not use an Inertial Sensor or Gyro Sensor for heading-based or rotation-based turns. It can drive forward or reverse and turn left or right, but it cannot turn to a specific heading or rotation. For heading-based and rotation-based turns, use the smartdrive class.

派生类

The drivetrain class serves as a base class for the following derived classes:

• smartdrive - This class adds Inertial Sensor or Gyro Sensor support to enable heading-based and rotation-based turns.

类构造函数

1 - Creates a drivetrain using existing motor_group objects for the left (&l) and right (&r) sides.

drivetrain(
    motor_group      &l,
    motor_group      &r,
    double           wheelTravel = 320,
    double           trackWidth = 320,
    double           wheelBase = 130,
    distanceUnits    unit = mm,
    double           externalGearRatio = 1.0 );

2 - Creates a drivetrain using existing motor objects for the left (&l) and right (&r) sides.

drivetrain(
    motor            &l,
    motor            &r,
    double           wheelTravel = 320,
    double           trackWidth = 320,
    double           wheelBase = 130,
    distanceUnits    unit = mm,
    double           externalGearRatio = 1.0 );

类析构函数

Destroys the drivetrain object and releases associated resources.

virtual ~drivetrain();

参数

范围	类型	描述
&l / &r	motor_group / motor	The left and right motors or motor groups. Both parameters must use the same type: either two motor_group objects or two motor objects.
wheelTravel	double	The circumference of the drivetrain wheels. The default is 320.
trackWidth	double	The distance between the left and right wheels. The default is 320.
wheelBase	double	The distance between the front and back wheels. The default is 130.
unit	distanceUnits	The unit for wheelTravel, trackWidth, and wheelBase: mm (millimeters, default) or inches.
externalGearRatio	double	The gear ratio used to adjust drive distances if gears are used. The default is 1.0.

例子

// Create the left and right motor objects
motor leftMotor = motor(PORT1, false);
motor rightMotor = motor(PORT9, true);

// Create the drivetrain object
drivetrain myDrivetrain = drivetrain(
    leftMotor,  // left motor object
    rightMotor, // right motor object
    259.34,     // wheelTravel
    320,        // trackWidth
    40,         // wheelBase
    mm,         // unit
    1.0 );      // externalGearRatio

成员功能

There are many ways to code the drivetrain. Below is a list of all drivetrain member functions:

操作 - 移动和转向机器人。

• drive - Moves the robot forward or reverse forever.

• driveFor - Moves the robot forward or reverse for a specific distance.

• turn - Turns the robot left or right forever.

• turnFor - Turns the robot left or right for a specific number of degrees.

• stop - Stops the robot’s movement.

变异器 - 调整传动系统设置。

• setDriveVelocity - Tells the robot how fast to drive.

• setTurnVelocity - Tells the robot how fast to turn.

• setStopping - Tells how the robot will stop moving: by braking, coasting, or holding.

• setTimeout - Sets how many seconds the robot will try to finish a movement.

Getters - 查看移动状态。

• isDone - Returns whether the robot is finished moving, as a Boolean value.

• isMoving - Returns whether the robot is moving, as a Boolean value.

• velocity - Returns how fast the robot is driving.

• current - Returns how much electrical current the drivetrain is using.

• power - Returns how quickly the drivetrain is using energy.

• torque - Returns how much torque the drivetrain is using.

• efficiency - Returns how efficiently the drivetrain is using power.

• temperature - Returns how warm the drivetrain is.

• voltage - Returns the electrical voltage supplied to the drivetrain.

Before calling any drivetrain member functions, a drivetrain object must be created, as shown below:

/* This constructor is required when using VS Code.
Drivetrain configuration is generated automatically
in VEXcode using the Device Menu. Replace the values
as needed. */

// Create the left and right motor objects
motor leftMotor = motor(PORT1, false);
motor rightMotor = motor(PORT9, true);

// Create the drivetrain object
drivetrain myDrivetrain = drivetrain(
    leftMotor,  // left motor object
    rightMotor, // right motor object
    259.34,     // wheelTravel
    320,        // trackWidth
    40,         // wheelBase
    mm,         // unit
    1.0 );      // externalGearRatio

行动

驾驶

drive moves the robot forward or reverse forever. The robot will continue to move until it is given another action, like turning or stopping. For RPM or DPS, the limit is changed by the gear ratio of the drivetrain.

Available Functions

1 - 使用当前配置的驱动速度驱动。

void drive(
    directionType dir );

2 - 以指定速度行驶。

void drive(
    directionType dir,
    double        velocity,
    velocityUnits units );

Parameters

范围	类型	描述
dir	directionType	The direction the robot moves: forward or reverse.
velocity	double	The velocity to drive with from 0% to 100% when using velocityUnits::pct, from 0 to 600 rpm when using rpm, or from 0 to 3600 degrees per second when using dps. If no velocity is provided, the robot drives at the current drive velocity.
units	velocityUnits	The velocity unit: velocityUnits::pct (percent), rpm (rotations per minute), or dps (degrees per second).

Return Values

此函数不返回值。

Notes

• drive is non-waiting; the project will continue executing the next line of code immediately after the call.

• The drivetrain will continue moving until stop is called or another drivetrain movement function (such as driveFor or turn) is executed.

• Functions such as isDone and isMoving are not applicable to drive, since it does not use target-based movement (doesn’t have a distance parameter).

Examples

// Drive forward and back
myDrivetrain.drive(forward);
wait(2, seconds);
myDrivetrain.drive(reverse, 25, rpm);
wait(2, seconds);
myDrivetrain.stop();

驱动

driveFor moves the robot forward or reverse for a specific distance. The project will wait until the robot is done moving before the next line of code runs by default. For RPM or DPS, the limit is changed by the gear ratio of the drivetrain.

Available Functions

1 - 使用当前配置的行驶速度 沿指定方向行驶一段距离。

bool driveFor(
    directionType dir,
    double        distance,
    distanceUnits units,
    bool          waitForCompletion = true );

2 - 根据当前配置的行驶速度（#setdrivevelocity ）沿距离方向行驶。

bool driveFor(
    double        distance,
    distanceUnits units,
    bool          waitForCompletion = true );

3 - 以指定速度沿距离方向行驶。

bool driveFor(
    double        distance,
    distanceUnits units,
    double        velocity,
    velocityUnits units_v,
    bool          waitForCompletion = true );

4 - 以指定的速度沿指定方向行驶指定距离。

bool driveFor(
    directionType dir,
    double        distance,
    distanceUnits units,
    double        velocity,
    velocityUnits units_v,
    bool          waitForCompletion = true );

Parameters

范围	类型	描述
dir	directionType	The direction the robot moves: forward or reverse.
distance	double	机器人行驶的距离。
units	distanceUnits	The distance unit: mm (millimeters), inches, or cm (centimeters).
velocity	double	The velocity to drive with from 0% to 100% when using velocityUnits::pct, from 0 to 600 rpm when using rpm, or from 0 to 3600 degrees per second when using dps. If no velocity is provided, the robot drives at the current drive velocity.
units_v	velocityUnits	The velocity unit: velocityUnits::pct (percent), rpm (rotations per minute), or dps (degrees per second).
waitForCompletion	bool	true (default) makes the project wait until the robot is done moving before the next line of code runs. false makes the next line of code run right away.

Return Values

返回机器人是否达到目标距离，以布尔值表示。

• true - The robot reached the target distance.

• false - The robot did not finish the movement, or the function returned before the movement completed because waitForCompletion was set to false.

Notes

• Executing another drivetrain movement function (such as drive or turnFor) while driveFor is in progress will interrupt the current movement.

• Because driveFor is target-based (uses a distance parameter), functions such as isDone and isMoving work with driveFor.

Examples

// Drive 200 mm, then back 200 mm
myDrivetrain.driveFor(forward, 200, mm);
myDrivetrain.driveFor(reverse, 200, mm);

转动

turn turns the robot left or right forever. The robot will continue to turn until it is given another action, like driving or stopping. For RPM or DPS, the limit is changed by the gear ratio of the drivetrain.

Available Functions

1 - 使用当前配置的转弯速度 进行转弯。

void turn(
    turnType dir );

2 - 以指定速度转弯。

void turn(
    turnType     dir,
    double       velocity,
    velocityUnits units );

Parameters

范围	类型	描述
dir	turnType	The direction the robot turns: left or right.
velocity	double	The velocity to turn with from 0% to 100% when using velocityUnits::pct, from 0 to 600 rpm when using rpm, or from 0 to 3600 degrees per second when using dps. If no velocity is provided, the robot turns at the current turn velocity.
units	velocityUnits	The velocity unit: velocityUnits::pct (percent), rpm (rotations per minute), or dps (degrees per second).

Return Values This function does not return a value. Notes

• turn is non-waiting; the project will continue executing the next line of code immediately after the call.

• The drivetrain will continue turning until stop is called or another drivetrain movement function (such as turnFor or drive) is executed.

• Functions such as isDone and isMoving are not applicable to turn, since it does not use target-based movement (doesn’t have an angle parameter).

Examples

// Turn right, then left, then stop
myDrivetrain.turn(right);
wait(2, seconds);
myDrivetrain.turn(left);
wait(2, seconds);
myDrivetrain.stop();

转向

turnFor turns the robot left or right for a specific number of degrees. The turn is relative to the current position of the robot. The project will wait until the robot is done turning before the next line of code runs by default. For RPM or DPS, the limit is changed by the gear ratio of the drivetrain.

Available Functions

1 - 使用当前配置的转弯速度 转弯指定的角度。

bool turnFor(
    double        angle,
    rotationUnits units,
    bool          waitForCompletion = true );

2 - 使用当前配置的转弯速度 沿指定方向转弯一定角度。

bool turnFor(
    turnType      dir,
    double        angle,
    rotationUnits units,
    bool          waitForCompletion = true );

3 - 以指定的速度转指定的角度。

bool turnFor(
    double        angle,
    rotationUnits units,
    double        velocity,
    velocityUnits units_v,
    bool          waitForCompletion = true );

4 - 以指定的速度沿指定方向转弯指定角度。

bool turnFor(
    turnType      dir,
    double        angle,
    rotationUnits units,
    double        velocity,
    velocityUnits units_v,
    bool          waitForCompletion = true );

Parameters

范围	类型	描述
dir	turnType	The direction the robot turns: left or right.
angle	double	机器人的转弯角度。
units	rotationUnits	The turn unit: deg (degrees), rev (revolutions), or raw (raw units). One revolution is equal to 360 degrees.
velocity	double	The velocity to turn with from 0% to 100% when using velocityUnits::pct, from 0 to 600 rpm when using rpm, or from 0 to 3600 degrees per second when using dps. If no velocity is provided, the robot turns at the current turn velocity.
units_v	velocityUnits	The velocity unit: velocityUnits::pct (percent), rpm (rotations per minute), or dps (degrees per second).
waitForCompletion	bool	true (default) makes the project wait until the robot is done turning before the next line of code runs. false makes the next line of code run right away.

Return Values

返回机器人是否达到目标角度，以布尔值表示。

• true - The robot reached the target angle.

• false - The robot did not finish the turn, or the function returned before the turn completed because waitForCompletion was set to false.

Notes

• Executing another drivetrain movement function (such as turn or drive) while turnFor is in progress will interrupt the current movement.

• Because turnFor is target-based (uses an angle parameter), functions such as isDone and isMoving work with turnFor.

Examples

// Turn right then left
myDrivetrain.turnFor(right, 90, degrees);
wait(1, seconds);
myDrivetrain.turnFor(left, 90, degrees);

停止

stop stops the robot’s movement. If a stopping mode is provided, it controls how the robot stops for this function call.

Available Functions

1 - 使用当前配置的停止模式 停止传动系统。

void stop();

2 - 使用指定的制动模式停止传动系统。

void stop(
    brakeType mode );

Parameters

范围	类型	描述
mode	brakeType	How the robot will stop: brake - Stops immediately. coast - Slows to a stop. hold - Stops immediately and holds the wheels’ position.

Return Values

此函数不返回值。

Examples

// Drive forward, then coast to a stop
myDrivetrain.setDriveVelocity(100, percent);
myDrivetrain.drive(forward);
wait(2, seconds);
myDrivetrain.stop(coast);

变异体

设置驱动速度

setDriveVelocity tells the robot how fast to drive. A higher percentage makes the robot drive faster and a lower percentage makes the robot drive slower. For RPM or DPS, the limit is changed by the gear ratio of the drivetrain.

每个项目开始时，机器人默认以 50% 的速度行驶。

**注意：**速度越高，机器人行驶速度越快，但精度可能越低；速度越低，机器人行驶速度越慢，但精度可能越高。

Available Functions

void  setDriveVelocity(
  double velocity,
  velocityUnits units );

Parameters

范围	类型	描述
velocity	double	The velocity to drive with from 0% to 100% when using velocityUnits::pct, from 0 to 600 rpm when using rpm, or from 0 to 3600 degrees per second when using dps.
units	velocityUnits	The velocity unit: velocityUnits::pct (percent), rpm (rotations per minute), or dps (degrees per second).

Return Values

此函数不返回值。

Notes

• The drive velocity applies to all subsequent drivetrain movement functions (such as drive and driveFor) unless a specific velocity is provided in the function call.

Examples

// Drive forward, then coast to a stop
myDrivetrain.setDriveVelocity(100, percent);
myDrivetrain.drive(forward);
wait(2, seconds);
myDrivetrain.stop(coast);

设置转弯速度

setTurnVelocity tells the robot how fast to turn. A higher percentage makes the robot turn faster and a lower percentage makes the robot turn slower. For RPM or DPS, the limit is changed by the gear ratio of the drivetrain.

每个项目开始时，机器人默认以 50% 的速度旋转。

**注意：**速度越高，机器人转弯越快，但精度可能越低；速度越低，机器人转弯越慢，但精度可能越高。

Available Functions

void  setTurnVelocity(
  double velocity,
  velocityUnits units );

Parameters

范围	类型	描述
velocity	double	The velocity to turn with from 0% to 100% when using velocityUnits::pct, from 0 to 600 rpm when using rpm, or from 0 to 3600 degrees per second when using dps.
units	velocityUnits	The velocity unit: percent or pct (percent), rpm (rotations per minute), or dps (degrees per second).

Return Values

此函数不返回值。

Notes

• The turn velocity applies to all subsequent drivetrain turning functions (such as turn and turnFor) unless a specific velocity is provided in the function call.

Examples

// Try default, slow, then fast
myDrivetrain.turnFor(right, 360, degrees);
wait(1, seconds);
myDrivetrain.setTurnVelocity(20, percent);
myDrivetrain.turnFor(right, 360, degrees);
wait(1, seconds);
myDrivetrain.setTurnVelocity(100, percent);
myDrivetrain.turnFor(right, 360, degrees);

设置停止

setStopping sets how the robot will stop moving: by braking, coasting, or holding.

Available Functions

void setStopping(
  brakeType mode );

Parameters

范围	类型	描述
mode	brakeType	How the robot will stop: brake - Stops immediately. coast - Slows to a stop. hold - Stops immediately and holds the wheels’ position.

Return Values

此函数不返回值。

Notes

• The stopping mode applies to all subsequent stop calls unless a specific stopping mode is provided in the function call.

设置超时

setTimeout sets how many seconds the robot will try to finish a movement. If the robot cannot finish in that time, it will stop trying and move on to the next line of code. This keeps the robot from getting stuck on a movement.

Available Functions

void  setTimeout(
  int32_t time,
  timeUnits units );

Parameters

范围	类型	描述
time	int32_t	机器人尝试完成一次动作的时间。该值应为正整数。
units	timeUnits	The unit of time: sec (seconds) or msec (milliseconds).

Return Values

此函数不返回值。

Notes

• The timeout only applies to target-based drivetrain movement functions (such as driveFor and turnFor).

Examples

// Start turning if driving takes too long
myDrivetrain.setTimeout(1, seconds);
myDrivetrain.driveFor(forward, 25, inches);
myDrivetrain.turnFor(right, 90, degrees);

获取器

已完成

isDone returns whether the robot is finished moving, as a Boolean value. This can be used to control the timing of other behaviors based on the robot’s movement.

Available Functions

bool isDone( void );

Parameters

此函数不接受任何参数。

Return Values

• true - The robot is finished moving.

• false - The robot is still moving.

Notes

• isDone is compatible with target-based drivetrain movements (functions that move to a target, such as driveFor and turnFor).

• isDone is not compatible with functions such as drive and turn, since they do not use target-based movement.

正在移动

isMoving returns whether the robot is moving, as a Boolean value. This can be used to control the timing of other behaviors based on the robot’s movement.

Available Functions

virtual bool isMoving( void );

Parameters

此函数不接受任何参数。

Return Values

• true - The robot is moving.

• false - The robot is not moving.

Notes

• isMoving is compatible with target-based drivetrain movements (functions that move to a target, such as driveFor and turnFor).

• isMoving is not compatible with functions such as drive and turn, since they do not use target-based movement.

速度

velocity returns how fast the robot is driving.

正值表示机器人向前行驶，负值表示机器人向后行驶。

Available Functions

double velocity(
  velocityUnits units );

Parameters

范围	类型	描述
units	velocityUnits	The velocity unit: percent or pct (percent), rpm (rotations per minute), or dps (degrees per second).

Return Values

Returns the drivetrain velocity as a double in the selected unit.

Examples

// Show velocity before and during motion
Brain.Screen.print("Resting: %f", myDrivetrain.velocity(percent));
myDrivetrain.drive(forward, 100, velocityUnits::pct);
wait(1, seconds);
Brain.Screen.newLine();
Brain.Screen.print("Moving: %f", myDrivetrain.velocity(percent));
myDrivetrain.stop();

当前的

current returns how much electrical current the drivetrain is using. Current is the amount of electricity flowing through the drivetrain. It can be returned in amps (amperes) or as a percentage, depending on the unit.

电流值越高，意味着驱动系统消耗的电流越大。这种情况可能发生在机器人推挤物体或被卡住后试图移动时。

这可以用来检查传动系统在运动过程中是否运转吃力。如果电流持续偏高，传动系统可能会发热或动力利用效率降低。

Available Functions

1 - 返回传动系统的电流（以安培为单位）。

double current(
    currentUnits units = currentUnits::amp );

2 - 返回传动系统的电流占最大值的百分比。

double current(
    percentUnits units );

Parameters

范围	类型	描述
units	currentUnits	The unit to return current in: amp (amps, default).
units	percentUnits	The unit to return current in: percent or pct.

Return Values

Returns the drivetrain current as a double in the selected unit.

力量

power returns how much power the drivetrain is using, measured in watts. Power shows how quickly the drivetrain is using energy.

功率值越高，意味着驱动系统消耗能量的速度越快。这种情况可能发生在机器人推挤物体或被卡住后试图移动时。

这可以用来比较不同的运动轨迹，或者检查传动系统是否运转吃力。如果功率持续偏高，传动系统可能会过热或能量利用效率降低。

Available Functions

double power(
  powerUnits units = powerUnits::watt );

Parameters

范围	类型	描述
units	powerUnits	The power unit: watt (watts, default).

Return Values

Returns drivetrain power as a double in watts.

扭矩

扭矩表示传动系统在车轮旋转时能够施加多大的推力或拉力。

torque returns how much torque the drivetrain is using, measured in Newton-meters (Nm) or inch-pounds (InLb).

扭矩值越高，意味着传动系统需要更大的推力或拉力。这种情况可能发生在机器人推挤物体或被卡住后试图移动时。

这可以用来检查传动系统是否运转不畅，或者比较不同动作所需的推力大小。

Available Functions

double torque(
  torqueUnits units = torqueUnits::nm );

Parameters

范围	类型	描述
units	torqueUnits	The unit to return torque in: Nm (newton meters, default) or InLb (inch pounds).

Return Values

Returns drivetrain torque as a double in the selected unit.

效率

efficiency returns how efficiently the drivetrain is using power, as a percentage from 0% to 100%.

效率值反映了传动系统有多少动力被用于运动。效率值越高，意味着传动系统用于运动的动力越多。当传动系统高负荷运转但运动量不大时，例如机器人被卡住或抵挡物体时，效率值会降低。

这可以用来比较运动情况，或者检查传动系统是否浪费动力而不是将其用于运动。

Available Functions

double efficiency(
  percentUnits units = percentUnits::pct );

Parameters

范围	类型	描述
units	percentUnits	The unit to return efficiency in: percent or pct (default).

Return Values

Returns drivetrain efficiency as a double in the selected unit.

温度

temperature returns the average temperature of the drivetrain as a percentage from 0% to 100%.

温度显示传动系统电机的温度。温度越高，意味着电机在工作过程中温度越高。为了保持最佳性能，电机温度应保持在 55°C 以下。

如果电机过热，它们会降低最大电流以保护自身。当温度达到 70°C 时，电机将停止运转，直到冷却下来。

这可以用来检查传动系统在重复运动、长时间运行或推动物体时是否过热。

Available Functions

double temperature(
  percentUnits units );

Parameters

范围	类型	描述
units	percentUnits	The unit to return temperature in: percent or pct.

Return Values

Returns the average drivetrain temperature as a double in the selected unit.

Notes

• A returned value of 50% indicates that the average motor temperature is approximately 45°C (113°F).

• The typical operating temperature range for the drivetrain is approximately 20°C (68°F) to 70°C (158°F).

电压

voltage returns the electrical voltage supplied to the drivetrain.

电压是指供给传动系统电机的电压力。结合电流和功率值，我们可以了解传动系统如何利用电能。

Available Functions

double  voltage(
  voltageUnits units = voltageUnits::volt );

Parameters

范围	类型	描述
units	voltageUnits	The unit to return voltage in: volt (volts, default) or voltageUnits::mV (millivolts).

Return Values

Returns drivetrain voltage as a double in the selected unit.