传动系统

介绍

The drivetrain class provides control over a drivetrain using separate left and right motors or motor groups.

派生类

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

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

类构造函数

1 — This constructor constructs a drivetrain using references to existing motor_group instances 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 — This constructor constructs a drivetrain using references to existing motor instances 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	References to existing motor or motor_group instances. Both parameters must be of the same type: either two motor_group instances or two motor instances. The &l parameter refers to the left motor or motor group, and &r refers to the right motor or motor group.
wheelTravel	double	The wheel’s circumference. Default is 320, expressed in millimeters by default or in the units specified by the unit parameter.
trackWidth	double	The distance between the left and right wheels. Default is 320, expressed in millimeters by default or in the units specified by the unit parameter.
wheelBase	double	The width of the wheel base. Default is 130, expressed in millimeters by default or in the units specified by the unit parameter.
unit	distanceUnits	Units for the wheelTravel, trackWidth, and wheelBase parameters: mm (default) — millimeters inches
externalGearRatio	double	The gear ration compensation factor. Default is 1.0.

例子

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

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

成员功能

The drivetrain class includes the following member functions:

• drive — Drives the robot continuously forward or in reverse using the current drive velocity.

• driveFor — Drives the robot forward or in reverse for a set distance.

• turn — Rotates the robot continuously left or right using the current turn velocity.

• turnFor — Rotates the robot left or right for a specified angle.

• stop — Stops the drivetrain using the configured stopping mode.

• setDriveVelocity — Sets the default drive velocity used by drive methods.

• setTurnVelocity — Sets the default turn velocity used by turn methods.

• setStopping — Sets how the drivetrain behaves when it stops.

• setTimeout — Sets how long drive and turn methods try to reach their target before timing out.

• isDone — Returns whether a drivetrain is not currently moving.

• isMoving — Returns whether a drivetrain is currently moving.

• velocity — Returns the drivetrain’s current velocity.

• current — Returns the drivetrain’s current draw.

• power — Returns the drivetrain’s power usage.

• torque — Returns the drivetrain’s torque.

• efficiency — Returns the drivetrain’s efficiency.

• temperature — Returns the drivetrain motors’ temperature.

• voltage — Returns the voltage currently applied to the drivetrain.

Before calling any drivetrain member functions, a drivetrain instance 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 instances
motor leftMotor = motor(PORT1, false);
motor rightMotor = motor(PORT9, true);

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

驾驶

使传动系统沿指定方向持续运动。

Available Functions

1 — 使用当前 配置的驱动速度 的驱动器。

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 in which the robot drives: forward reverse
velocity	double	传动系统运动的速度，以双精度浮点数表示。如果未指定速度或之前设置为速度为 ，则默认速度为 50%。
units	velocityUnits	The unit to represent the velocity: velocityUnits::pct — percent rpm — rotations per minute 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

使传动系统沿指定方向移动指定距离，单位为指定单位。

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 — 以指定的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 in which the robot drives: forward reverse
distance	double	传动系统将移动的距离。
units	distanceUnits	The units representing the distance: mm — millimeters inches — inches cm — centimeters
velocity	double	传动系统运动的速度，以双精度浮点数表示。如果未指定速度或之前设置为速度为 ，则默认速度为 50%。
units_v	velocityUnits	The unit to represent the velocity: velocityUnits::pct — percent rpm — rotations per minute dps — degrees per second
waitForCompletion	bool	true (default) — The project waits until the function finishes before executing the next line of code. false — The project starts the action and moves on to the next line of code right away, without waiting for the function to finish.

Return Values

Returns a Boolean indicating whether the drivetrain reached the target distance parameter value:

• true — The drivetrain successfully reaches the target distance parameter value.
• false — The drivetrain does not complete the movement or if the waitForCompletion parameter is 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

使传动系统沿指定方向持续旋转。

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 in which the robot turns: left right
velocity	double	传动系统转速，以双精度浮点数表示。如果未指定转速或转速之前设置则默认转速为 50%。
units	velocityUnits	The unit to represent the velocity: velocityUnits::pct — percent rpm — rotations per minute dps — degrees per second

Return Value 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

使传动系统沿指定方向旋转指定角度，单位为指定单位。

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 in which the robot turns: left right
angle	double	传动系统转动的角度。
units	rotationUnits	The units representing the angle: deg — degrees rev — revolutions raw — raw units
velocity	double	传动系统转速，以双精度浮点数表示。如果未指定转速或转速之前设置则默认转速为 50%。
units_v	velocityUnits	The unit to represent the velocity: velocityUnits::pct — percent rpm — rotations per minute dps — degrees per second
waitForCompletion	bool	true (default) — The project waits until the function finishes before executing the next line of code. false — The project starts the action and moves on to the next line of code right away, without waiting for the function to finish.

Return Values

Returns a Boolean indicating whether the drivetrain reached the target angle parameter value:

• true — The drivetrain successfully reaches the target angle parameter value.
• false — The drivetrain does not complete the movement or if the waitForCompletion parameter is 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

停止传动系统。

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	The brake type to use when stopping the drivetrain: brake — Stops immediately. coast — Slows gradually to a stop. hold — Stops and resists movement using motor feedback.

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);

设置驱动速度

设置传动系统的默认驱动速度。

Available Functions

void  setDriveVelocity( 
  double velocity, 
  velocityUnits units );

Parameters

范围	类型	描述
velocity	double	传动系统的运行速度。
units	velocityUnits	The unit to represent the velocity: velocityUnits::pct — percent rpm — rotations per minute 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

设置传动系统的默认转弯速度。

Available Functions

void  setTurnVelocity( 
  double velocity, 
  velocityUnits units );

Parameters

范围	类型	描述
velocity	double	传动系统的转速。
units	velocityUnits	The units representing the velocity: rpm — rotations per minute dps — degrees per second percent / pct — percent

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

设置传动系统的默认停止模式。

Available Functions

void setStopping( 
  brakeType mode );

Parameters

范围	类型	描述
mode	brakeType	The brake type to use when stopping the drivetrain: brake — Stops immediately. coast — Slows gradually to a stop. hold — Stops and resists movement using motor feedback.

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

设定传动系统尝试达到目标距离或角度的时间限制。如果传动系统无法在设定时间内完成动作，它将自动停止并继续执行下一个功能。

Available Functions

void  setTimeout( 
  int32_t time, 
  timeUnits units );

Parameters

范围	类型	描述
time	int32_t	The maximum number of seconds a drivetrain function will run before stopping and moving to the next function.
units	timeUnits	The unit that represents the time: sec — seconds 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);

已完成

Returns a Boolean indicating whether no target-based drivetrain movement (such as driveFor or turnFor) is currently in progress.

Available Functions

bool isDone( void );

Parameters

此函数不接受任何参数。

Return Values

返回一个布尔值，指示传动系统是否处于静止状态：

• true — The drivetrain is not moving.
• false — The drivetrain is 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

Returns a Boolean indicating whether the drivetrain is currently executing a target-based movement (such as driveFor or turnFor).

Available Functions

virtual bool isMoving( void );

Parameters

此函数不接受任何参数。

Return Values

返回一个布尔值，指示传动系统是否正在运转：

• true — The drivetrain is moving.
• false — The drivetrain 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

返回传动系统的速度。

Available Functions

double velocity( 
  velocityUnits units );

Parameters

范围	类型	描述
units	velocityUnits	The units that represent the velocity: rpm — rotations per minute dps — degrees per second percent / pct — percent

Return Values

Returns a double indicating the velocity of the drivetrain in the units specified by the units parameter.

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

返回传动系统正在使用的电流大小。

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 units that represent the current: amp — amps
units	percentUnits	The units that represent the current: percent / pct — percent

Return Values

Returns a double indicating the amount of electrical current the drivetrain is using in the units specified by the units parameter.

力量

返回动力传动系统的功率消耗。

Available Functions

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

Parameters

范围	类型	描述
units	powerUnits	The units that represent the power: watt (default) — watts

Return Values

返回一个双精度浮点数，表示传动系统的功率消耗（单位：瓦特）。

扭矩

返回传动系统产生的扭矩。

Available Functions

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

Parameters

范围	类型	描述
units	torqueUnits	The units representing the torque: Nm (default) — newton meters InLb — inch pounds

Return Values

Returns a double indicating the torque produced by the drivetrain in the units specified by the units parameter.

效率

返回传动系统的效率。

Available Functions

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

Parameters

范围	类型	描述
units	percentUnits	The units that represent the efficiency: percent / pct — percent

Return Values

返回一个双精度浮点数，表示传动系统的效率（以百分比表示）。

温度

返回传动系统所用电机的平均温度。

Available Functions

double temperature( 
  percentUnits units );

Parameters

范围	类型	描述
units	percentUnits	The units that represent the temperature: percent / pct — percent

Return Values

返回一个双精度浮点数，表示传动系统所用电机的平均温度百分比。

Notes

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

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

电压

返回传动系统的电压。

Available Functions

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

Parameters

范围	类型	描述
units	voltageUnits	The units that represent the voltage: volt (default) — volts voltageUnits::mV — millivolts

Return Values

Returns a double indicating the voltage of the drivetrain in the units specified by the units parameter.