传动系统#

介绍#

传动系统控制机器人的运动，使其能够精确地前进、转弯和停止。

以下是所有方法的列表：

动作——移动和转动机器人。

  • drive – 无限期地沿指定方向移动传动系统。

  • drive_for – 将传动系统移动一段设定的距离。

  • drive_until – 移动传动系统，直到满足条件。

  • turn – 无限期地向左或向右转动传动系统。

  • turn_for – 将传动系统转动一段设定的距离。

  • turn_to_heading – 将传动系统转向指定航向。

  • turn_to_rotation – 将传动系统转到指定的旋转角度。

  • stop – 以可配置的行为停止传动系统。

变异器——设置默认移动和转动速度。

  • set_drive_velocity – 设置传动系统的默认移动速度。

  • set_turn_velocity – 设置动力传动系统的转弯移动速度。

  • set_stopping – 设置停止行为（制动、滑行或保持）。

  • set_timeout – 限制传动系统功能在运动受阻时等待的时间。

  • set_heading – 将动力传动系统的航向设置为特定值。

  • set_rotation – 将传动系统的旋转设置为特定值。

Getters – 返回机器人状态和位置。

  • get_heading – 返回动力传动系统的当前航向。

  • get_rotation – 返回传动系统的当前旋转。

  • get_velocity – 返回传动系统的当前速度。

  • get_yaw – 返回机器人的偏航角（以度为单位）。

  • get_roll – 返回机器人的滚转角度（以度为单位）。

  • get_pitch – 返回机器人的俯仰角（以度为单位）。

  • get_crashed – 返回机器人是否已崩溃。

  • is_stopped – 返回传动系统当前是否未移动。

行动#

drive#

drive moves the drivetrain in a specified direction indefinitely.

Usage:
drivetrain.drive(direction)

参数

描述

direction

The direction in which to drive:

  • FORWARD
  • REVERSE

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

# Start threads — Do not delete
start_thread(main)

drive_for#

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

Usage:
drivetrain.drive_for(direction, distance, units, wait)

参数

描述

direction

The direction in which to drive:

  • FORWARD
  • REVERSE

distance

动力传动系统移动的距离，以浮点数或整数表示。

units

The unit that represents the distance:

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

等待

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.

 
# Example coming soon

drive_until#

drive_until moves the drivetrain forward until a certain condition is met.

Usage:
drivetrain.drive_until(condition, wait)

参数

描述

condition

停止动力传动系统条件：

  • CRASH – 动力传动系统撞到物体时停止。4
  • OBJECT – 眼动传感器检测到物体时停止。必须配置眼动传感器才能使用此参数

等待

Optional.

  • wait=True (default) – The project waits until drive_until 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_until to finish.

 
# Example coming soon

turn#

turn turns the drivetrain left or right indefinitely.

Usage:
drivetrain.turn(direction)

参数

描述

direction

The direction in which to turn:

  • LEFT
  • RIGHT

 
# Example coming soon

turn_for#

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

Usage:
drivetrain.turn_for(direction, angle, wait)

参数

描述

direction

The direction in which to turn:

  • LEFT
  • RIGHT

angle

传动系统转动的度数，以浮点数或整数表示。

等待

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.

 
# Example coming soon

turn_to_heading#

turn_to_heading turns a drivetrain to a specified heading.

Usage:
drivetrain.turn_to_heading(angle, wait)

参数

描述

angle

转动传动系统的方向，以浮点数或整数度为单位。

等待

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.

 
# Example coming soon

turn_to_rotation#

turn_to_rotation turns a drivetrain to a specified rotation.

Usage:
drivetrain.turn_to_rotation(angle, wait)

参数

描述

angle

以浮点数或整数度数表示的旋转传动系统朝向。

等待

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.

 
# Example coming soon

stop#

stop stops a drivetrain.

Usage:
drivetrain.stop()

参数

描述

该方法没有参数。

 
# Example coming soon

修改器#

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.

Usage:
drivetrain.set_drive_velocity(velocity)

参数

描述

velocity

传动系统移动的速度，以浮点数或整数表示，范围从 0% 到 100%。

 
# Example coming soon

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.

Usage:
drivetrain.set_turn_velocity(velocity)

参数

描述

velocity

传动系统转动的速度，以浮点数或整数表示，范围从 0% 到 100%。

 
# Example coming soon

set_stopping#

set_stopping sets the stopping mode for a drivetrain.

Usage:
drivetrain.set_stopping(brake)

参数

描述

brake

How the drivetrain will stop:

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

 
# Example coming soon

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.

**注意：**传动系统的时间限制用于防止未达到目标位置的传动系统功能停止项目其余部分的执行。

Usage:
drivetrain.set_timeout(value, units)

参数

描述

value

运动功能在停止并移动到下一个功能之前运行的最大秒数（整数或浮点数）。

units

可选。表示时间的单位：

  • SECONDS
  • MSEC （默认）- 毫秒 

# Example coming soon

set_heading#

set_heading sets the heading of the drivetrain to a specified value.

Usage:
drivetrain.set_heading(value)

参数

描述

value

新航向使用的度值。

 
# Example coming soon

set_rotation#

set_rotation sets the rotation of the drivetrain to a specified value.

Usage:
drivetrain.set_rotation(value)

参数

描述

value

用于新旋转的度数值。

 
# Example coming soon

吸气剂#

get_heading#

get_heading returns the current heading of the drivetrain as a float in degrees.

Usage:
drivetrain.get_heading()

参数

描述

该方法没有参数。

 
# Example coming soon

get_rotation#

get_rotation returns the current rotation of the Inertial Sensor in degrees.

Usage:
drivetrain.get_rotation()

参数

描述

该方法没有参数。

 
# Example coming soon

get_velocity#

get_velocity returns the current velocity of the drivetrain as a float in percent.

Usage:
drivetrain.get_velocity()

参数

描述

该方法没有参数。

 
# Example coming soon

get_yaw#

get_yaw returns the current yaw of the robot as a float in degrees.

Usage:
drivetrain.get_yaw()

参数

描述

该方法没有参数。

 
# Example coming soon

get_roll#

get_roll returns the current roll of the robot as a float in degrees.

Usage:
drivetrain.get_roll()

参数

描述

该方法没有参数。

 
# Example coming soon

get_pitch#

get_pitch returns the current pitch of the robot as a float in degrees.

Usage:
drivetrain.get_pitch()

参数

描述

该方法没有参数。

 
# Example coming soon

get_crashed#

get_crashed returns a Boolean indicating whether or not the robot has crashed.

  • True – The robot has crashed.

  • False – The robot has not crashed.

Usage:
drivetrain.get_crashed()

参数

描述

该方法没有参数。

 
# Example coming soon

is_stopped#

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

  • True – The drivetrain is stopped.

  • False – The drivetrain is moving.

Usage:
drivetrain.is_stopped()

参数

描述

该方法没有参数。

 
# Example coming soon
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