传动系统#

功能 #

drivetrain.drive()#

这是一个非等待命令，允许任何后续命令无延迟地执行。

The drivetrain.drive(direction) command is used to move the Drivetrain in the specified direction forever, until a new drivetrain command is used, or the project is stopped.

参数	描述
方向	The direction for the Drivetrain to move in: `FORWARD` or `REVERSE`.

**返回：**无。

def main():
    # Drive forward.
    drivetrain.drive(FORWARD)
    # Wait 2 seconds. 
    wait(2, SECONDS)
    # Stop the Drivetrain.
    drivetrain.stop()

drivetrain.drive_for()#

The drivetrain.drive_for(direction, distance, units, wait) command is used to move the Drivetrain for a given distance.

This is can be a non-waiting or waiting command depending on if the wait parameter is used.

参数	描述
方向	The direction for the Drivetrain to move in: `FORWARD` or `REVERSE`.
距离	传动系统移动的值。
单位	The units that the distance will use: `MM` (Millimeters) or `INCHES`.
等待	Optional. The wait parameter determines whether the command will block subsequent commands (`wait=True`) or allow immediate execution (`wait=False`). If unspecified, the default for the `wait` parameter is `wait=True`.

**返回：**无。

def main():
    # Move the Drivetrain forward for 500 MM.
    drivetrain.drive_for(FORWARD, 500, MM)

drivetrain.drive_to()#

The drivetrain.drive_to(object, wait) command is used to drive the VR Rover the distance between it and a specified object.

This is can be a non-waiting or waiting command depending on if the wait parameter is used.

参数	描述
目的	The object that the VR Rover will drive to: `BASE`, `ENEMY`, or `MINERALS`.
等待	Optional. The wait parameter determines whether the command will block subsequent commands (`wait=True`) or allow immediate execution (`wait=False`). If unspecified, the default for the `wait` parameter is `wait=True`.

If a mineral or enemy is not detected in the VR Rover’s visual range when the drivetrain.drive_to() command is called, the robot will not drive.

However, when the BASE parameter is used, the robot will drive forward the amount of distance between it and the base.

**返回：**无。

def main():
    # Drive the VR Rover to the nearest mineral.
    drivetrain.drive_to(MINERALS)

drivetrain.go_to()#

The drivetrain.go_to(object, wait) command is used to turn and drive the VR Rover to a specified object.

This is can be a non-waiting or waiting command depending on if the wait parameter is used.

参数	描述
目的	The object that the VR Rover will turn and drive to: `BASE`, `ENEMY`, or `MINERALS`.
等待	Optional. The wait parameter determines whether the command will block subsequent commands (`wait=True`) or allow immediate execution (`wait=False`). If unspecified, the default for the `wait` parameter is `wait=True`.

If a mineral or enemy is not detected in the VR Rover’s visual range when the drivetrain.go_to() command is called, the robot will not drive.

However, when the BASE parameter is used, the robot will always turn towards the base and then drive towards it.

**返回：**无。

def main():
    # Turn the VR Rover towards the base and drive to it.
    drivetrain.go_to(BASE)

drivetrain.turn()#

The drivetrain.turn(direction) command is used to turn the Drivetrain right or left forever, until a new drivetrain command is used, or the project is stopped.

这是一个非等待命令，允许任何后续命令无延迟地执行。

参数	描述
方向	The direction for the Drivetrain to turn to: `RIGHT` or `LEFT`.

**返回：**无。

def main():
    # Turn right.
    drivetrain.turn(RIGHT)
    # Wait 2 seconds.
    wait(2, SECONDS)
    #  Stop the Drivetrain.
    drivetrain.stop()

drivetrain.turn_for()#

The drivetrain.turn_for(direction, angle, units, wait) turns the drivetrain left or right for a specified angle or rotations.

This is can be a non-waiting or waiting command depending on if the wait parameter is used.

参数	描述
方向	The direction for the Drivetrain to turn towards: `LEFT` or `RIGHT`.
角度	传动系统转动的角度。
单位	The unit for the Drivetrain, `DEGREES`.
等待	Optional. The wait parameter determines whether the command will block subsequent commands (`wait=True`) or allow immediate execution (`wait=False`). If unspecified, the default for the `wait` parameter is `wait=True`.

**返回：**无。

def main():
    # Turn the drivetrain to the right for 90 degrees.
    drivetrain.turn_for(RIGHT, 90, DEGREES)

drivetrain.turn_to()#

The drivetrain.turn_to(object, wait) command is used to turn the VR Rover towards a specified object.

This is can be a non-waiting or waiting command depending on if the wait parameter is used.

参数	描述
目的	The object that the VR Rover will turn to: `BASE`, `ENEMY`, or `MINERALS`.
等待	Optional. The wait parameter determines whether the command will block subsequent commands (`wait=True`) or allow immediate execution (`wait=False`). If unspecified, the default for the `wait` parameter is `wait=True`.

If a mineral or enemy is not detected in the VR Rover’s visual range when the drivetrain.drive_to() command is called, the robot will not drive.

However, when the BASE parameter is used, the robot will turn to face the base.

**返回：**无。

def main():
    # Turn the VR Rover towards the nearest mineral.
    drivetrain.turn_to(MINERALS)

drivetrain.turn_to_heading()#

The drivetrain.turn_to_heading(angle, units, wait) command is used to turn a Drivetrain to a specific heading(angle) using the built in Gyro sensor.

This is can be a non-waiting or waiting command depending on if the wait parameter is used.

参数	描述
角度	传动系统转向的方向（角度）。
单位	The unit for the Drivetrain, `DEGREES`.
等待	Optional. The wait parameter determines whether the command will block subsequent commands (`wait=True`) or allow immediate execution (`wait=False`). If unspecified, the default for the `wait` parameter is `wait=True`.

**返回：**无。

def main():
    # Turn towards 90 degrees (East).
    drivetrain.turn_to_heading(90, DEGREES)

drivetrain.turn_to_rotation()#

The drivetrain.turn_to_rotation(angle, units, wait) command is used to turn a Drivetrain to a specific angle of rotation using the built in Gyro sensor.

This is can be a non-waiting or waiting command depending on if the wait parameter is used.

参数	描述
角度	传动系统转向的方向（角度）。
单位	The unit for the Drivetrain, `DEGREES`.
等待	Optional. The wait parameter determines whether the command will block subsequent commands (`wait=True`) or allow immediate execution (`wait=False`). If unspecified, the default for the `wait` parameter is `wait=True`.

**返回：**无。

def main():
    # Turn to 180 degrees.
    drivetrain.turn_to_rotation(180, DEGREES)

drivetrain.stop()#

The drivetrain.stop() command is used to stop the Drivetrain.

这是一个非等待命令，允许任何后续命令无延迟地执行。

**返回：**无。

def main():
    # # Drive the Drivetrain forward.
    drivetrain.drive(FORWARD)
    # Wait 5 seconds.
    wait(5, SECONDS)
    # Stop the drivetrain.
    drivetrain.stop()

drivetrain.set_drive_velocity()#

The drivetrain.set_drive_velocity(velocity,units) command is used to set the velocity of the Drivetrain.

这是一个非等待命令，允许任何后续命令无延迟地执行。

参数	描述
速度	传动系统速度，从 0 到 100%。
单位	The unit for the Drivetrain’s velocity, `PERCENT`.

**返回：**无。

默认情况下，传动系统速度设置为 50%。

def main():
    # Set the Drivetrain's velocity to 100%.
    drivetrain.set_drive_velocity(100, PERCENT)
    # Drive forward for 200 mm.
    drivetrain.drive_for(FORWARD, 200, MM)

drivetrain.set_turn_velocity()#

The drivetrain.set_turn_velocity(VELOCITY,PERCENT) command is used to set the velocity of the Drivetrain’s turns.

这是一个非等待命令，允许任何后续命令无延迟地执行。

参数	描述
速度	传动系统速度，从 0 到 100%。
单位	The unit for the Drivetrain’s turn velocity, `PERCENT`.

**返回：**无。

默认情况下，传动系统的转弯速度设置为 50%。

def main():
    # Set the Drivetrain's turn velocity to 100%.
    drivetrain.set_turn_velocity(100, PERCENT)
    # Turn 270 degrees to the left.
    drivetrain.turn_for(LEFT, 270, DEGREES)

drivetrain.set_heading()#

The drivetrain.set_heading(angle,units) command is used to sets the Drivetrain’s Gyro heading value.

这是一个非等待命令，允许任何后续命令无延迟地执行。

参数	描述
角度	传动系统的陀螺仪航向将被设置为的值。
单位	The unit for the Drivetrain, `DEGREES`.

**返回：**无。

在这个例子中，传动系统不应该移动，因为航向已经是 90 度。

def main():
    # Set the current heading of the VR Robot to 0 degrees.
    drivetrain.set_heading(90, DEGREES)
    # Turn right to 90 degrees. 
    drivetrain.turn_to_heading(90, DEGREES)

drivetrain.set_rotation()#

The drivetrain.set_rotation(angle, units) command is used to sets the Drivetrain’s angle of rotation.

这是一个非等待命令，允许任何后续命令无延迟地执行。

参数	描述
角度	传动系统的旋转角度将被设置为的整数。
单位	The angle of rotation’s unit, `DEGREES`.

**返回：**无。

def main():
    # Set the Drivetrain's angle of rotation to 600 degrees.
    drivetrain.set_rotation(600, DEGREES)
    # Turn to 0 degrees.
    drivetrain.turn_to_rotation(0, DEGREES)