传动系统

Introduction

A drivetrain allows 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 methods that let you set drive and turn speeds, apply timeouts to avoid execution stalls, and manually update the robot’s heading or rotation values. These features provide flexibility when designing autonomous behaviors.

Below is a list of all methods:

Actions – Move and turn the robot.

• drive – Moves the drivetrain in a specified direction indefinitely.

• drive_for – Moves the drivetrain for a set distance.

• 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 using sensors.

• turn_to_rotation – Turns the drivetrain to a specific rotational value.

• stop – Stops a drivetrain with configurable behavior.

Mutators – Set default movement and turn speeds.

• set_heading – Sets a drivetrain’s heading to a specific value.

• set_rotation – Sets a drivetrain’s rotational value to a specific value.

• set_timeout – Limits how long a drivetrain function waits before giving up if movement is blocked.

• set_drive_velocity – Sets the default moving velocity for the drivetrain.

• set_turn_velocity – Sets the turning moving velocity for the drivetrain.

Getters – Return robot state and position.

• heading – Returns a drivetrain’s current heading.

• rotation – Returns a drivetrain’s current rotational value.

• is_done – Returns whether a drivetrain is currently not moving.

• is_moving – Returns whether a drivetrain is currently moving.

Actions

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()

# VR threads — Do not delete
vr_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	The distance for the drivetrain to move as a float or integer.
units	The unit that represents the distance: INCHES MM – Millimeters
wait	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.

def main():
    # Drive forward and backward
    drivetrain.drive_for(FORWARD, 200, MM)
    drivetrain.drive_for(REVERSE, 200, MM)

# VR threads — Do not delete
vr_thread(main)

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

def main():
    # Turn right and left, then stop
    drivetrain.turn(RIGHT)
    wait(2, SECONDS)
    drivetrain.turn(LEFT)
    wait(2, SECONDS)
    drivetrain.stop()

# VR threads — Do not delete
vr_thread(main)

turn_for

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

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

参数	描述
direction	The direction in which to turn: LEFT RIGHT
angle	The amount of degrees the drivetrain will turn as a float or integer.
units	The unit that represents the rotational value: DEGREES
wait	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.

def main():
    # Turn the robot right and left
    drivetrain.turn_for(RIGHT, 90, DEGREES)
    wait(1, SECONDS)
    drivetrain.turn_for(LEFT, 90, DEGREES)

# VR threads — Do not delete
vr_thread(main)

turn_to_heading

turn_to_heading turns a drivetrain to a specified heading.

Usage:
drivetrain.turn_to_heading(angle, units, wait)

参数	描述
angle	The heading to turn the drivetrain to face as a float or integer.
units	The unit that represents the rotational value: DEGREES
wait	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.

def main():
    # Turn to face the cardinal directions
    drivetrain.turn_to_heading(90, DEGREES)
    wait(1, SECONDS)
    drivetrain.turn_to_heading(180, DEGREES)
    wait(1, SECONDS)
    drivetrain.turn_to_heading(270, DEGREES)
    wait(1, SECONDS)
    drivetrain.turn_to_heading(0, DEGREES)

# VR threads — Do not delete
vr_thread(main)

turn_to_rotation

turn_to_rotation turns a drivetrain to a specified rotational value.

Usage:
drivetrain.turn_to_rotation(angle, units, wait)

参数	描述
angle	The rotational value to turn the drivetrain to face as a float or integer.
units	The unit that represents the rotational value: DEGREES
wait	Optional. wait=True (default) – The project waits until turn_to_rotation 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_rotation to finish.

def main():
    # Turn left, then spin in a circle 
    # clockwise and face right
    drivetrain.turn_to_rotation(-90, DEGREES)
    wait(1, SECONDS)
    drivetrain.turn_to_rotation(450, DEGREES)

# VR threads — Do not delete
vr_thread(main)

stop

stop stops a drivetrain.

Usage:
drivetrain.stop()

参数	描述
	This method has no parameters.

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

# VR threads — Do not delete
vr_thread(main)

Mutators

set_heading

set_heading sets the heading of a drivetrain.

Usage:
drivetrain.set_heading(heading, units)

参数	描述
heading	The new heading as a float or integer.
units	The unit that represents the heading: DEGREES

def main():
    # Face the new 0 degrees
    drivetrain.set_heading(90, DEGREES)
    drivetrain.turn_to_heading(0, DEGREES)

# VR threads — Do not delete
vr_thread(main)

set_rotation

set_rotation method sets the rotation for the drivetrain.

Usage:
drivetrain.set_rotation(rotation, units)

参数	描述
rotation	The new rotational value as a float or integer.
units	The unit that represents the heading: DEGREES

def main():
    # Spin counterclockwise two times
    drivetrain.set_rotation(720, DEGREES)
    drivetrain.turn_to_rotation(0, DEGREES)

# VR threads — Do not delete
vr_thread(main)

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.

Note: The drivetrain’s time limit is used to prevent drivetrain functions that do not reach their target position from stopping the execution of the rest of the project.

Usage:
drivetrain.set_timeout(value, units)

参数	描述
value	The maximum number of seconds a motor function will run before stopping and moving to the next function as an integer or float.
units	The unit that represents the time: SECONDS MSEC – Milliseconds

def main():
    # Turn right after driving forward
    drivetrain.set_timeout(1, SECONDS)
    drivetrain.drive_for(FORWARD, 25, INCHES)
    drivetrain.turn_for(RIGHT, 90)

# VR threads — Do not delete
vr_thread(main)

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, units)

参数	描述
velocity	The velocity at which the drivetrain will move as a float or integer.
units	The unit that represents the velocity: PERCENT

def main():
    # Drive forward at different velocities
    # Default velocity
    drivetrain.drive_for(FORWARD, 150, MM)
    wait(1, SECONDS)
    # Drive slower
    drivetrain.set_drive_velocity(20, PERCENT)
    drivetrain.drive_for(FORWARD, 150, MM)
    wait(1, SECONDS)
    # Drive faster
    drivetrain.set_drive_velocity(100, PERCENT)
    drivetrain.drive_for(FORWARD, 150, MM)

# VR threads — Do not delete
vr_thread(main)

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, units)

参数	描述
velocity	The velocity at which the drivetrain will turn as a float or integer.
units	The unit that represents the velocity: PERCENT

def main():
    # Turn at different velocities
    # Default velocity
    drivetrain.turn_for(RIGHT, 120, DEGREES)
    wait(1, SECONDS)
    # Turn slower
    drivetrain.set_turn_velocity(20, PERCENT)
    drivetrain.turn_for(RIGHT, 120, DEGREES)
    wait(1, SECONDS)
    # Turn faster
    drivetrain.set_turn_velocity(100, PERCENT)
    drivetrain.turn_for(RIGHT, 120, DEGREES)

# VR threads — Do not delete
vr_thread(main)

Getters

heading

heading returns the current heading of a drivetrain as a float.

Usage:
drivetrain.heading(units)

参数	描述
units	The unit that represents the rotational value: DEGREES

def main():
    # Display the heading after turning
    drivetrain.turn_for(RIGHT, 450, DEGREES)
    brain.print("Heading: ")
    brain.print(drivetrain.heading(DEGREES))

# VR threads — Do not delete
vr_thread(main)

rotation

rotation returns the current rotational value of a drivetrain as a float.

Usage:
drivetrain.rotation(units)

参数	描述
units	The unit that represents the rotational value: DEGREES

def main():
    # Display the rotation after turning
    drivetrain.turn_for(RIGHT, 450, DEGREES)
    brain.print("Rotation: ")
    brain.print(drivetrain.rotation(DEGREES))

# VR threads — Do not delete
vr_thread(main)

is_done

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

• True – The drivetrain is not moving.

• False – The drivetrain is moving.

Note: is_done only works with Drivetrain methods that have a wait parameter.

Usage:
drivetrain.is_done()

参数	描述
	This method has no parameters.

is_moving

is_moving returns a Boolean indicating whether a drivetrain is currently moving.

• True – The drivetrain is moving.

• False – The drivetrain is not moving.

Usage:
drivetrain.is_moving()

参数	描述
	This method has no parameters.