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– Moves the drivetrain in a specified direction indefinitely.drive_for– Moves the drivetrain for a set distance.drive_until– Moves the drivetrain until a condition is met.turn– Turns the drivetrain left or right indefinitely.turn_for– Turns the drivetrain for a set distance.turn_to_heading– Turns the drivetrain to a specified heading.turn_to_rotation– Turns the drivetrain to a specified rotation.stop– Stops a drivetrain with configurable behavior.
变异器——设置默认移动和转动速度。
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.set_heading– Sets a drivetrain’s heading to a specific value.set_rotation– Sets a drivetrain’s rotation to a specific value.
Getters – 返回机器人状态和位置。
get_heading– Returns a drivetrain’s current heading.get_rotation– Returns a drivetrain’s current rotation.get_velocity– Returns a drivetrain’s current velocity.get_yaw– Returns the yaw of the robot in degrees.get_roll– Returns the roll of the robot in degrees.get_pitch– Returns the pitch of the robot in degrees.get_crashed– Returns whether the robot has crashed.is_stopped– Returns whether a drivetrain is currently not moving.
行动#
drive#
驱动 使传动系统无限期地沿指定方向移动。
用法:
drivetrain.drive(方向)
参数 |
描述 |
|---|---|
|
行驶方向:
|
# Build Used: Super Code Base 2.0
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 将传动系统沿指定方向移动一段设定的距离。
Usage:
drivetrain.drive_for(direction, distance, units, wait)
参数 |
描述 |
|---|---|
|
行驶方向:
|
|
动力传动系统移动的距离,以浮点数或整数表示。 |
|
The unit that represents the distance:
|
|
可选
无需等待 |
# Build Used: Super Code Base 2.0
def main():
# Drive back and forth
drivetrain.drive_for(FORWARD, 100, MM)
drivetrain.drive_for(REVERSE, 4, INCHES)
# Start threads — Do not delete
start_thread(main)
drive_until#
drive_until 将传动系统向前移动,直到满足某个条件。
用法:
drivetrain.drive_until(条件,等待)
参数 |
描述 |
|---|---|
|
停止动力传动系统
|
|
可选
|
# Build Used: Super Code Base 2.0
def main():
# Turn right after a crash
drivetrain.drive_until(CRASH)
drivetrain.turn_for(RIGHT, 90)
# Start threads — Do not delete
start_thread(main)
turn#
转 无限地向左或向右转动传动系统。
用法:
drivetrain.turn(方向)
参数 |
描述 |
|---|---|
|
转弯方向:
|
# Build Used: Super Code Base 2.0
def main():
# Turn right and left, then stop
drivetrain.turn(RIGHT)
wait(2, SECONDS)
drivetrain.turn(LEFT)
wait(2, SECONDS)
drivetrain.stop()
# Start threads — Do not delete
start_thread(main)
turn_for#
turn_for 将传动系统向左或向右转动指定的角度或圈数。
用法:
drivetrain.turn_for(方向,角度,等待)
参数 |
描述 |
|---|---|
|
转弯方向:
|
|
传动系统转动的度数,以浮点数或整数表示。 |
|
可选
无需等待 |
# Build Used: Super Code Base 2.0
def main():
# Turn right then left
drivetrain.turn_for(RIGHT, 90)
drivetrain.turn_for(LEFT, 90)
# Start threads — Do not delete
start_thread(main)
turn_to_heading#
turn_to_heading 将传动系统转向指定的航向。
用法:
drivetrain.turn_to_heading(角度,等待)
参数 |
描述 |
|---|---|
|
转动传动系统的方向,以浮点数或整数度为单位。 |
|
turn_to_heading 完成。12 |
# Build Used: Super Code Base 2.0
def main():
# Turn to face the cardinal directions
drivetrain.turn_to_heading(90)
wait(1, SECONDS)
drivetrain.turn_to_heading(180)
wait(1, SECONDS)
drivetrain.turn_to_heading(270)
wait(1, SECONDS)
drivetrain.turn_to_heading(0)
# Start threads — Do not delete
start_thread(main)
turn_to_rotation#
turn_to_rotation 将传动系统转到指定的旋转方向。
用法:
drivetrain.turn_to_rotation(角度,等待)
参数 |
描述 |
|---|---|
|
以浮点数或整数度数表示的旋转传动系统朝向。 |
|
Optional.
|
# Build Used: Super Code Base 2.0
def main():
# Spin around twice
drivetrain.turn_to_rotation(720)
# Start threads — Do not delete
start_thread(main)
stop#
停止 停止传动系统。
用法:
drivetrain.stop()
参数 |
描述 |
|---|---|
该方法没有参数。 |
# Build Used: Super Code Base 2.0
def main():
# Drive forward then stop
drivetrain.drive(FORWARD)
wait(2, SECONDS)
drivetrain.stop()
# Start threads — Do not delete
start_thread(main)
修改器#
set_drive_velocity#
set_drive_velocity 设置传动系统的默认移动速度。此速度设置将用于后续调用任何传动系统函数。
用法:
drivetrain.set_drive_velocity(velocity)
参数 |
描述 |
|---|---|
|
传动系统移动的速度,以浮点数或整数表示,范围从 0% 到 100%。 |
# Build Used: Super Code Base 2.0
def main():
# Drive at different velocities
drivetrain.drive_for(FORWARD, 150, MM)
wait(1, SECONDS)
# Drive slow
drivetrain.set_drive_velocity(20)
drivetrain.drive_for(REVERSE, 50, MM)
wait(1, SECONDS)
# Drive fast
drivetrain.set_drive_velocity(100)
drivetrain.drive_for(FORWARD, 150, MM)
# Start threads — Do not delete
start_thread(main)
set_turn_velocity#
set_turn_velocity 设置传动系统的默认转弯速度。此速度设置将用于后续调用任何传动系统函数。
用法:
drivetrain.set_turn_velocity(velocity)
参数 |
描述 |
|---|---|
|
传动系统转动的速度,以浮点数或整数表示,范围从 0% 到 100%。 |
# Build Used: Super Code Base 2.0
def main():
# Turn at different velocities
drivetrain.turn_for(RIGHT, 180)
wait(1, SECONDS)
# Turn fast
drivetrain.set_turn_velocity(100)
drivetrain.turn_for(RIGHT, 180)
# Start threads — Do not delete
start_thread(main)
set_stopping#
set_stopping 设置传动系统的停止模式。
用法:
drivetrain.set_stopping(brake)
参数 |
描述 |
|---|---|
|
传动系统
|
# Build Used: Super Code Base 2.0
def main():
drivetrain.set_drive_velocity(100)
# Drive, then coast to a stop
drivetrain.set_stopping(COAST)
drivetrain.drive(FORWARD)
wait(2, SECONDS)
drivetrain.stop()
# Start threads — Do not delete
start_thread(main)
set_timeout#
set_timeout 设置传动系统函数等待达到目标的时间限制。如果传动系统无法在设定的时间内完成运动,它将自动停止并继续执行下一个函数。
**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。
用法:
drivetrain.set_timeout(值,单位)
参数 |
描述 |
|---|---|
|
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)。 |
|
可选。表示时间的单位:
|
# Build Used: Super Code Base 2.0
def main():
# Turn right after driving forward
drivetrain.set_timeout(1, SECONDS)
drivetrain.drive_for(FORWARD, 25, INCHES)
drivetrain.turn_for(RIGHT, 90)
# Start threads — Do not delete
start_thread(main)
set_heading#
set_heading 将传动系统的航向设置为指定值。
用法:
drivetrain.set_heading(value)
参数 |
描述 |
|---|---|
|
新航向使用的度值。 |
# Build Used: Super Code Base 2.0
def main():
# Face the new 0 degree heading
drivetrain.set_heading(90)
drivetrain.turn_to_heading(0)
# Start threads — Do not delete
start_thread(main)
set_rotation#
set_rotation 将传动系统的旋转设置为指定值。
用法:
drivetrain.set_rotation(value)
参数 |
描述 |
|---|---|
|
用于新旋转的度数值。 |
# Build Used: Super Code Base 2.0
def main():
# Spin counterclockwise two times
drivetrain.set_rotation(720)
drivetrain.turn_to_rotation(0)
# Start threads — Do not delete
start_thread(main)
吸气剂#
get_heading#
get_heading 以浮点数形式返回动力传动系统的当前航向。
用法:
drivetrain.get_heading()
参数 |
描述 |
|---|---|
该方法没有参数。 |
# Build Used: Super Code Base 2.0
def main():
# Monitor the heading while turning
monitor_sensor("drivetrain.get_heading")
drivetrain.turn_for(RIGHT, 450)
# Start threads — Do not delete
start_thread(main)
get_rotation#
get_rotation 返回惯性传感器的当前旋转角度(以度为单位)。
用法:
drivetrain.get_rotation()
参数 |
描述 |
|---|---|
该方法没有参数。 |
# Build Used: Super Code Base 2.0
def main():
# Monitor the rotation while turning
monitor_sensor("drivetrain.get_rotation")
drivetrain.turn_for(RIGHT, 450)
# Start threads — Do not delete
start_thread(main)
get_velocity#
get_velocity 以百分比浮点数返回传动系统的当前速度。
用法:
drivetrain.get_velocity()
参数 |
描述 |
|---|---|
该方法没有参数。 |
# Build Used: Super Code Base 2.0
def main():
# Display the velocity of the robot before and while moving
console.print("Start: ")
console.print(drivetrain.get_velocity())
console.new_line()
drivetrain.drive(FORWARD)
wait(1, SECONDS)
console.print("Moving: ")
console.print(drivetrain.get_velocity())
drivetrain.stop()
# Start threads — Do not delete
start_thread(main)
get_yaw#
get_yaw 以浮点数形式返回机器人当前的偏航角。
用法:
drivetrain.get_yaw()
参数 |
描述 |
|---|---|
该方法没有参数。 |
# Build Used: Super Code Base 2.0
def main():
# Change the LED color based on the yaw while
# moving the robot by hand
monitor_sensor("drivetrain.get_yaw")
while True:
if drivetrain.get_yaw() > 0:
bumper.set_color(GREEN)
elif drivetrain.get_yaw() < 0:
bumper.set_color(RED)
else:
bumper.set_color(NONE)
# Start threads — Do not delete
start_thread(main)
get_roll#
get_roll 以浮点数形式返回机器人当前的滚动角度。
用法:
drivetrain.get_roll()
参数 |
描述 |
|---|---|
该方法没有参数。 |
# Build Used: Super Code Base 2.0
def main():
# Change the LED color based on the roll while
# moving the robot by hand
monitor_sensor("drivetrain.get_roll")
while True:
if drivetrain.get_roll() > 0:
bumper.set_color(GREEN)
elif drivetrain.get_roll() < 0:
bumper.set_color(RED)
else:
bumper.set_color(NONE)
# Start threads — Do not delete
start_thread(main)
get_pitch#
get_pitch 以浮点数形式返回机器人当前的俯仰角度。
用法:
drivetrain.get_pitch()
参数 |
描述 |
|---|---|
该方法没有参数。 |
# Build Used: Super Code Base 2.0
def main():
# Change the LED color based on the pitch while
# moving the robot by hand
monitor_sensor("drivetrain.get_pitch")
while True:
if drivetrain.get_pitch() > 0:
bumper.set_color(GREEN)
elif drivetrain.get_pitch() < 0:
bumper.set_color(RED)
else:
bumper.set_color(NONE)
# Start threads — Do not delete
start_thread(main)
get_crashed#
get_crashed 返回一个布尔值,指示机器人是否已经崩溃。
真– 机器人已崩溃。错误– 机器人未崩溃。
用法:
drivetrain.get_crashed()
参数 |
描述 |
|---|---|
该方法没有参数。 |
# Build Used: Super Code Base 2.0
def main():
# Drive until a crash
drivetrain.drive(FORWARD)
while not drivetrain.get_crashed():
wait(50, MSEC)
drivetrain.stop()
drivetrain.turn_for(RIGHT, 90)
# Start threads — Do not delete
start_thread(main)
is_stopped#
is_stopped 返回一个布尔值,指示传动系统当前是否没有移动。
真– 传动系统停止。错误– 传动系统正在移动。
用法:
drivetrain.is_stopped()
参数 |
描述 |
|---|---|
该方法没有参数。 |
# Build Used: Super Code Base 2.0
def main():
# Turn when the drivetrain is done moving forward
drivetrain.drive_for(FORWARD, 200, MM, wait=False)
wait(0.25, SECONDS)
while True:
if drivetrain.is_stopped():
drivetrain.turn_for(RIGHT, 180)
break
else:
console.print("Still moving...")
wait(0.1, SECONDS)
console.clear()
# Start threads — Do not delete
start_thread(main)