智能驾驶#

初始化 SmartDrive 类#

使用以下构造函数创建 SmartDrive：

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

此构造函数使用八个参数：

范围

描述

lm

左侧 电机 或 电机组 的名称。

rm

右侧 电机 或 电机组 的名称。

g

惯性传感器 或 陀螺仪传感器 的名称。

wheelTravel

**可选。**驱动轮的周长。默认值为 300 毫米。

trackWidth

**可选。**传动系统的轮距。默认值为 320 毫米。

wheelBase

**可选。**传动系统的轴距。默认值为 320 毫米。

units

Optional. A valid DistanceUnit for the units that wheelTravel, trackWidth and wheelBase are specified in. The default is MM.

externalGearRatio

**可选。**如果使用齿轮传动，则使用齿轮比来补偿驱动距离。

必须先创建 电机、电机组、惯性传感器 和/或 陀螺仪传感器，然后才能使用 SmartDrive 类构造函数创建对象。

# Create the Inertial Sensor.
brain_inertial = Inertial()
# Create the Motors.
left_motor = Motor(Ports.PORT1, GearSetting.RATIO_18_1, False)
right_motor = Motor(Ports.PORT2, GearSetting.RATIO_18_1, True)
# Construct a 2-Motor Smart Drivetrain "drivetrain" with the
# DriveTrain class.
smartdrive = SmartDrive(left_motor, right_motor, brain_inertial, 319.19, 295, 40, MM, 1)

如果要制作带有多个电机的智能传动系统，则需要先单独创建 电机，然后再将它们分组到 电机组中。

# Create the Inertial Sensor.
brain_inertial = Inertial()
# Create the left Motors and group them under the
# MotorGroup "left_motors".
left_motor_a = Motor(Ports.PORT1, GearSetting.RATIO_18_1, False)
left_motor_b = Motor(Ports.PORT2, GearSetting.RATIO_18_1, False)
left_motors = 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, GearSetting.RATIO_18_1, True)
right_motor_b = Motor(Ports.PORT4, GearSetting.RATIO_18_1, True)
right_motors = MotorGroup(right_motor_a, right_motor_b)
# Construct a 4-Motor Drivetrain "drivetrain" with the
# DriveTrain class.
smartdrive = SmartDrive(left_motors, right_motors, brain_inertial, 319.19, 295, 40, MM, 1)

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

要创建不带 惯性传感器 或 陀螺仪传感器 的 DriveTrain 对象，请使用 DriveTrain 类构造函数。

类方法#

drive()#

The drive(direction, velocity, units) method is used to drive the Smart Drivetrain in the specified direction forever, until another Drivetrain method is used, or the project is stopped.

这是一种非等待方法，允许下一个方法无延迟运行。

参数

描述

方向

有效的 DirectionType。

速度

Optional. The velocity at which the Drivetrain will move. The default velocity set by The drivetrain.set_velocity() method will be used.

单位

Optional. A valid VelocityUnits type. The default is RPM.

**返回：**无。

# Drive the Smart Drivetrain forward.
smartdrive.drive(FORWARD)

# Drive the Smart Drivetrain in reverse for 100 percent velocity.
smartdrive.drive(REVERSE, 100, PERCENT)

drive_for()#

The drive_for(direction, distance, units, velocity, units_v, wait) method is used to drive the Smart Drivetrain a given distance.

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

参数

描述

方向

有效的 DirectionType。

距离

传动系统移动的距离。

单位

Optional. A valid DistanceUnits type. The default is INCHES.

速度

Optional. The velocity the Drivetrain will move with. The default velocity set by The drivetrain.set_drive_velocity() method will be used if not provided.

单位

Optional. A valid VelocityUnits type. The default is RPM.

等待

Optional. The wait parameter determines whether the method will block subsequent method (wait=True) or allow immediate execution (wait=False). If unspecified, the default for The wait parameter is wait=True.

**返回：**无。

# Drive forward for 10 inches.
smartdrive.drive_for(FORWARD, 10)

turn()#

The turn(direction, velocity, units) method is used to turn the Smart Drivetrain either left or right.

这是一种非等待方法，允许下一个方法无延迟运行。

参数

描述

方向

有效的 TurnType。

速度

Optional. The velocity at which the Drivetrain will turn. The default velocity set by The drivetrain.set_turn_velocity() method will be used if not provided.

单位

Optional. A valid VelocityUnits type. The default is RPM.

**返回：**无。

# Turn the Smart Drivetrain to the right.
smartdrive.turn(RIGHT)

# Turn the Smart Drivetrain to the left at 25% velocity.
smartdrive.turn(LEFT, 25, PERCENT)

turn_to_heading()#

The turn_to_heading(angle, units, velocity, units_v, wait) method turns the Smart Drivetrain to a specific heading.

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

参数

描述

角度

转向的航向角。

单位

Optional. A valid RotationUnits type. The default is DEGREES.

速度

**可选。**使用此速度旋转智能驱动器的电机。

单位

Optional. A valid VelocityUnits type. The default is RPM.

等待

Optional. The wait parameter determines whether the method will block subsequent method (wait=True) or allow immediate execution (wait=False). If unspecified, the default for the wait parameter is wait==True.

**返回：**无。

# Turn to heading 180 degrees.
smartdrive.turn_to_heading(180)

turn_to_rotation()#

The turn_to_rotation(angle, units, velocity, units_v, wait) method turns the Smart Drivetrain to a specific rotation.

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

参数

描述

角度

要旋转的旋转角度。

单位

Optional. A valid RotationUnits type. The default is DEGREES.

速度

**可选。**使用此速度旋转智能传动系统的电机。

单位

Optional. A valid VelocityUnits type. The default is RPM.

等待

Optional. The wait parameter determines whether the method will block subsequent method (wait=True) or allow immediate execution (wait=False). If unspecified, the default for the wait parameter is wait==True.

**返回：**无。

# Turn to rotation 180 degrees.
smartdrive.turn_to_rotation(180)

turn_for()#

The turn_for(angle, units, velocity, units_v, wait) method turns the Smart Drivetrain for a specified angle.

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

参数

描述

角度

转向的角度。

单位

Optional. A valid RotationUnits type. The default is DEGREES.

速度

**可选。**使用此速度旋转智能传动系统的电机。

单位

Optional. A valid VelocityUnits type. The default is RPM.

等待

Optional. The wait parameter determines whether the method will block subsequent method (wait=True) or allow immediate execution (wait=False). If unspecified, the default for the wait parameter is wait==True.

**返回：**无。

# Turn for 180 degrees.
smartdrive.turn_for(180)

stop()#

The stop() method is used to stop the Smart Drivetrain, setting it to 0 velocity and configuring the current stopping mode.

**返回：**无。

# Stop the Smart Drivetrain.
smartdrive.stop()

set_drive_velocity()#

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

参数

描述

速度

为智能传动系统设置的新速度为默认速度。

单位

Optional. A valid VelocityUnits type. The default is RPM.

**返回：**无。

# Set the Smart Drivetrain to drive at a velocity of
# 200 RPM.
smartdrive.set_drive_velocity(200)

# Set the Smart Drivetrain to drive at a velocity of
# 100 PERCENT.
smartdrive.set_drive_velocity(100, PERCENT)

set_turn_velocity()#

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

参数

描述

速度

设置为转弯操作默认的新速度。

单位

Optional. A valid VelocityUnits type. The default is RPM, unless previously changed using The drivetrain.set_turn_velocity() method.

**返回：**无。

# Set the Smart Drivetrain to turn at a velocity of
# 200 RPM.
smartdrive.set_turn_velocity(200)

# Set the Smart Drivetrain to turn at a velocity of
# 100 PERCENT.
smartdrive.set_turn_velocity(100, PERCENT)

set_stopping()#

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

参数

描述

模式

A valid BrakeType. The default is COAST, unless previously changed using the drivetrain.set_stopping() method.

**返回：**无。

# Set the stopping mode to BRAKE.
smartdrive.set_stopping(BRAKE)

set_turn_threshold()#

The set_turn_threshold(value) method sets the turn threshold for the 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.

参数

描述

价值

The new turn threshold in DEGREES. The default for a Smart Drivetrain is 1 degree.

**返回：**无。

set_turn_constant()#

The set_turn_constant(value) method sets the turn constant for the Smart Drivetrain. The Smart Drivetrain uses 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.

参数

描述

价值

新的转弯常数，范围为 0.1 - 4.0。默认值为 1.0。

**返回：**无。

set_turn_direction_reverse()#

The set_turn_direction_reverse(value) method sets the expected turn direction for positive heading change.

参数

描述

价值

用于设置方向是否反转的布尔值。

**返回：**无。

set_heading()#

The set_heading(value, units) method sets the heading for the Smart Drivetrain.

参数

描述

价值

用于标题的新值。

单位

Optional. A valid RotationUnits type. The default is DEGREES.

**返回：**无。

# Set the value of heading to 180 degrees.
smartdrive.set_heading(180)

heading()#

The heading(units) method returns the current heading of the Smart Drivetrain.

参数

描述

单位

Optional. A valid RotationUnits type. The default is DEGREES.

**返回：**以指定单位表示的智能传动系统的当前航向。

# Get the current heading for the Smart Drivetrain.
value = smartdrive.heading()

set_rotation()#

The set_rotation() method sets the rotation for the Smart Drivetrain.

参数

描述

价值

用于旋转的新值。

单位

Optional. A valid RotationUnits type. The default is DEGREES.

**返回：**无。

# Set the value of rotation to 180 degrees.
smartdrive.set_rotation(180)

rotation()#

The rotation(units) method returns the current rotation of the Smart Drivetrain.

参数

描述

单位

Optional. A valid RotationUnits type. The default is DEGREES.

**返回：**智能传动系统以指定单位表示的当前旋转。

# Get the current rotation for the Smart Drivetrain.
value = smartdrive.rotation()

is_turning()#

The is_turning() method checks if the Smart Drivetrain is currently turning.

Returns: True if the Smart Drivetrain is currently turning. False if it is not currently turning.

is_moving()#

The is_moving() method checks if the Smart Drivetrain is currently moving.

Returns: True if the Smart Drivetrain is currently moving. False if it is not currently moving.

is_done()#

The is_done() method checks if the Smart Drivetrain is not currently moving.

Returns: True if the Smart Drivetrain is not currently moving. False if it is currently moving.

set_timeout()#

The set_timeout(timeout, units) method is used to set the timeout value for all motors on the Smart Drivetrain. This setting determines how long the Smart Drivetrain will attempt to execute drive_for and turn_for method before timing out if the motors have not completed their movements.

参数

描述

暂停

为智能传动系统操作设置的默认超时时间。

单位

Optional. A valid TimeUnits type. The default is MSEC, unless previously changed using the set_timeout() method.

**返回：**无。

# Set the timeout for the Smart Drivetrain to
# 1000 milliseconds.
drivetrain.set_timeout(1000)

获取超时（）#

The smartdrive.get_timeout() method gets the current timeout setting.

**返回：**智能传动系统方法超时后的当前时间。

velocity()#

The velocity() method returns the average velocity of the left and right Motors.

参数

描述

单位

Optional. A valid VelocityUnits type. The default is RPM.

**返回：**以提供的单位表示的智能传动系统的速度。

current()#

The current() method returns the average current of the left and right Motors.

参数

描述

单位

Optional. The only valid unit for current is AMP.

**返回：**提供的单位中的智能传动系统电流。

power()#

The power() method returns the total power all Smart Drivetrain Motors are using.

参数

描述

单位

Optional. The only valid unit for power is WATT.

**返回：**智能传动系统的功率（以提供的单位表示）。

torque()#

The torque() method returns the total torque of all Smart Drivetrain motors.

参数

描述

单位

Optional. A valid TorqueUnits type. The default is NM.

**返回：**以提供的单位表示的智能传动系统的扭矩。

efficiency()#

The efficiency() method returns the average efficiency of the left and right Motors.

参数

描述

单位

Optional. The only valid unit for efficiency is PERCENT.

**返回：**智能传动系统在所提供单位中的效率。

temperature()#

The temperature() method returns the average temperature of the left and right Motors.

参数

描述

单位

Optional. A valid TemperatureUnits type. The default is CELSIUS.

**返回：**以提供的单位表示的智能传动系统的温度。

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