传动系统#

Introduction #

The VEX IQ (1st gen) Drivetrain uses an external Gyro Sensor to support precise forward, reverse, and turning movements. These blocks allow the robot to move continuously or for set distances, rotate by degrees or to a heading, and respond to changes in its rotational orientation.

The Drivetrain category also includes configuration blocks that let you set drive and turn speeds, define stopping behavior, apply timeouts to avoid execution stalls, and manually update the robot’s heading or rotation values. These features provide flexibility when designing autonomous behaviors or real-time adjustments.

Below is a list of all blocks:

Actions — Drive or turn the robot for a set distance, angle, or continuously.

drive — Drives the robot continuously.
drive for — Drives the robot for a set distance.
turn — Turns the robot continuously.
turn for — Turns the robot a specific number of degrees.
turn to heading — Turns the robot to face a specific absolute heading.
turn to rotation — Turns the robot to reach a specific cumulative rotation.
stop driving — Stops all robot movement.

Settings — Configure drivetrain speeds, stopping, timeouts, and rotation values.

set drive velocity — Sets the speed for all drive blocks.
set turn velocity — Sets the speed for all turn blocks.
set drive stopping — Configures the stopping behavior after movement ends.
set drive timeout — Limits how long drive blocks wait to reach their goal.
set drive heading — Manually sets the robot’s gyro heading value.
set drive rotation — Manually sets the robot’s cumulative rotation value.

Values — Return drivetrain motion status, heading, rotation, velocity, and current draw.

drive is done? — Returns a Boolean indicating whether the drivetrain is no longer moving.
drive is moving? — Returns a Boolean indicating whether the drivetrain is currently moving.
drive heading — Returns the drivetrain’s heading angle.
drive rotation — Returns how much the drivetrain has turned since the project started.
drive velocity — Returns the drivetrain’s current velocity.
drive current — Returns the current drawn by the drivetrain’s motors.

Actions #

drive #

The drive block moves the drivetrain forward or in reverse using the current drive velocity. This block runs continuously until another Drivetrain block interrupts it or the project stops.

驱动 [向前 v]

Parameters

Description

direction

The direction in which the robot drives:

forward
reverse

Example

当开始
[Drive forward, then stop.]
驱动 [向前 v]
等待 (2) 秒
驱动停止

drive for #

The drive for block moves the drivetrain forward or in reverse for a specified distance using the current drive velocity.

驱动 [向前 v] (200) [毫米 v] ▶

Parameters	Description
direction	The direction in which the robot drives: forward reverse
distance	The distance the robot drives as an integer or decimal.
unit	The unit of measurement representing the distance: mm — millimeters inches
expanding arrow	By default, this is a waiting block, so the drivetrain will finish moving before running the next block. To make the drivetrain start moving and immediately run the next block right away, expand the block to say and don’t wait.

Example

当开始
[Drive backward 500 mm.]
驱动 [反 v] (500) [毫米 v] ▶

turn #

The turn block turns the drivetrain continuously left or right using the current turn velocity. The drivetrain will keep turning until another drivetrain block runs or the project stops.

[右 v] 转

Parameters	Description
direction	The direction in which the robot turns: left right

Parameters

Description

direction

The direction in which the robot turns:

left
right

Example

当开始
[Turn right, then stop.]
[右 v] 转
等待 (2) 秒
驱动停止

turn for #

The turn for block turns the drivetrain left or right for a specific number of degrees using the current turn velocity.

[右 v] 转 (90) 度 ▶

Parameters	Description
direction	The direction in which the robot turns: left right
angle	The number of degrees the robot turns as an integer or decimal.
expanding arrow	By default, this is a waiting block, so the drivetrain will finish turning before running the next block. To make the drivetrain start turning and immediately run the next block right away, expand the block to say and don’t wait.

Parameters

Description

direction

The direction in which the robot turns:

left
right

angle

The number of degrees the robot turns as an integer or decimal.

expanding arrow

By default, this is a waiting block, so the drivetrain will finish turning before running the next block. To make the drivetrain start turning and immediately run the next block right away, expand the block to say and don’t wait.

Example

当开始
[Turn left, then turn around to the right.]
[左 v] 转 (90) 度 ▶
[右 v] 转 (180) 度 ▶

turn to heading #

The turn to heading block turns the drivetrain to face a specific heading using the current turn velocity.

归位至 (90) 度 ▶

Parameters	Description
heading	The absolute heading the drivetrain will turn to from -360 to 360 degrees.
expanding arrow	By default, this is a waiting block, so the drivetrain will finish turning before running the next block. To make the drivetrain start turning and immediately run the next block right away, expand the block to say and don’t wait.

Example

当开始
[Turn to face the cardinal directions.]
归位至 (90) 度 ▶
等待 (2) 秒
归位至 (180) 度 ▶
等待 (2) 秒
归位至 (270) 度 ▶
等待 (2) 秒
归位至 (0) 度 ▶
等待 (2) 秒

turn to rotation #

The turn to rotation block turns the drivetrain to face a specific rotational value using the current turn velocity.

转向至 (90) 度 ▶

Parameters	Description
rotation	The cumulative rotation value the robot will turn to as an integer or decimal.
expanding arrow	By default, this is a waiting block, so the drivetrain will finish turning before running the next block. To make the drivetrain start turning and immediately run the next block right away, expand the block to say and don’t wait.

Example

当开始
[Turn left, then spin in a circle clockwise and face right.]
转向至 (-90) 度 ▶
等待 (2) 秒
转向至 (450) 度 ▶

stop driving #

The stop driving block immediately stops all movement of the drivetrain.

驱动停止

Parameters	Description
	This block has no parameters.

Example

当开始
[Drive forward, then stop.]
驱动 [向前 v]
等待 [4] 秒
驱动停止

Settings #

set drive velocity #

The set drive velocity block sets the default movement speed as a percentage for all subsequent movement blocks in the project.

设定驱动速度为 (50)%

Parameters	Description
velocity	Sets the default movement velocity from 0% to 100%.

Example

当开始
[Drive forward at the default velocity.]
驱动 [向前 v] (100) [毫米 v] ▶
等待 (1) 秒
[Move slower.]
设定驱动速度为 (20)%
驱动 [向前 v] (100) [毫米 v] ▶
等待 (1) 秒
[Move faster.]
设定驱动速度为 (100)%
驱动 [向前 v] (100) [毫米 v] ▶
等待 (1) 秒

set turn velocity #

The set turn velocity block sets the default velocity as a percentage for all subsequent turn blocks in the project.

设定转向速度为 (50)%

Parameters	Description
velocity	Sets the default turn velocity from 0% to 100%.

Example

当开始
[Turn at default velocity.]
[右 v] 转 (100) 度 ▶
等待 (1) 秒
[Turn slower.]
设定转向速度为 (20)%
[右 v] 转 (100) 度 ▶
等待 (1) 秒
[Turn faster.]
设定转向速度为 (100)%
[右 v] 转 (100) 度 ▶
等待 (1) 秒

set drive stopping #

The set drive stopping block sets how the drivetrain behaves when drivetrain movement ends.

设定驱动停止模式为 [刹车 v]

Parameters	Description
stopping behavior	Sets how the drivetrain stops: brake — Stops immediately. coast — Slows gradually to a stop. hold — Stops and resists movement using motor feedback.

Parameters

Description

stopping behavior

Sets how the drivetrain stops:

brake — Stops immediately.
coast — Slows gradually to a stop.
hold — Stops and resists movement using motor feedback.

Example

When started, sets stopping to coast, drives forward for 2 seconds, then stops.#

当开始
[Drive forward and coast to a stop.]
设定驱动速度为 (100)%
设定驱动停止模式为 [滑行 v]
驱动 [向前 v]
等待 (2) 秒
驱动停止

set drive timeout #

The set drive timeout block sets a time limit for how long a Drivetrain block will wait to reach its target. If the robot cannot complete the movement within the set time, it will stop automatically and continue with the next block.

Note: The drivetrain’s time limit is used to prevent Drivetrain blocks that do not reach their target position from stopping the execution of other blocks in the stack.

设定驱动超时为 (1) 秒

Parameters	Description
time	The maximum number of seconds a Drivetrain block will run before stopping and moving to the next block.

Example

When started, limits drive time to 1 second and then turns 90 degrees.#

当开始
[Drive forward for 1 second, then turn.]
设定驱动超时为 (1) 秒
驱动 [向前 v] (25) [英寸 v] ▶
[右 v] 转 (90) 度 ▶

set drive heading #

The set drive heading block sets the Gyro Sensor’s current heading to a specified value.

设定底盘归位至 (0) 度

Parameters	Description
heading	The heading value to assign, in degrees.

Example

当开始
[Turn to the left.]
设定底盘归位至 (90) 度
归位至 (0) 度 ▶

set drive rotation #

The set drive rotation block sets the Gyro Sensor’s current cumulative rotation value.

设定底盘转向至 (0) 度

Parameters	Description
rotation	The cumulative rotation value to assign, in degrees.

Example

当开始
[Spin counterclockwise two times.]
设定底盘转向至 (720) 度
转向至 (0) 度 ▶

Values #

drive is done?#

The drive is done? block returns a Boolean indicating whether the drivetrain is not moving.

True — The drivetrain is not moving.
False — The drivetrain is moving.

Note: This block only detects movement from blocks that can expand to show the and don’t wait option.

<驱动已结束?>

Parameters	Description
	This block has no parameters.

Example

当开始
[Start spinning when the drive is complete.]
驱动 [向前 v] (200) [毫米 v] ◀ 并且不等待
永久循环
如果 <驱动已结束?> 那么
[右 v] 转 (360) 度 ▶
退出循环
否则
在屏幕上设定光标至 (1) 行 (1) 列
在屏幕上打印 [Still Moving...]▶
等待 (0.1) 秒
清屏

drive is moving?#

The drive is moving? block returns a Boolean indicating whether the drivetrain is moving.

True — The drivetrain is moving.
False — The drivetrain is not moving.

Note: This block only detects movement from blocks that can expand to show the and don’t wait option.

<驱动进行中?>

Parameters	Description
	This block has no parameters.

Example

当开始
[Print that the robot is moving while it is still driving.]
驱动 [向前 v] (200) [毫米 v] ◀ 并且不等待
当 <驱动进行中?>
在屏幕上设定光标至 (1) 行 (1) 列
在屏幕上打印 [Still Moving...]▶
等待 (0.1) 秒
清屏
结束
在屏幕上设定光标至 (1) 行 (1) 列
在屏幕上打印 [Done!]▶

drive heading #

The drive heading block returns the drivetrain’s heading angle as a decimal number, in the range 0 to 359.99 degrees.

(底盘归位角度值)

Parameters	Description
	This block has no parameters.

Example

当开始
[Display the heading after turning.]
[右 v] 转 (450) 度 ▶
在屏幕上打印 (底盘归位角度值)◀ 并设定光标为下一行

drive rotation #

The drive rotation block returns how much the drivetrain has turned since the project started, in degrees as a decimal number: positive for clockwise, negative for counterclockwise.

(底盘转向角度值)

Parameters	Description
	This block has no parameters.

Example

当开始
[Display the rotation after turning.]
[右 v] 转 (450) 度 ▶
在屏幕上打印 (底盘转向角度值)◀ 并设定光标为下一行

drive velocity #

The drive velocity block returns the current speed of the drivetrain in a range from -100% to 100% or -127 rpm to 127 rpm.

(驱动速度 [% v])

Parameters	Description
unit	The unit of measurement: % – from -100% to 100% rpm – rotations per minute, from -127 to 127

Example

当开始
[Display the velocity as the robot is moving.]
驱动 [向前 v]
等待 (1) 秒
在屏幕上打印 (驱动速度 [% v])◀ 并设定光标为下一行
驱动停止

drive current #

The drive current block returns the amount of electrical current the drivetrain’s motors are drawing in a range from 0.0 to 1.2 amps (amperes).

(驱动电流 [amps v])

Parameters	Description
	This block has no parameters.

Example

当开始
[Display the current as the robot is moving.]
在屏幕上设定打印精度为 [0.01 v]
驱动 [向前 v]
等待 (1) 秒
在屏幕上打印 (驱动电流 [amps v])◀ 并设定光标为下一行
驱动停止