Inherits vex::drivetrain.

Public Member Functions
	smartdrive (motor_group &l, motor_group &r, vex::gyro &g, float wheelTravel=200, float trackWidth=176, float wheelBase=50, distanceUnits unit=distanceUnits::mm, float externalGearRatio=1.0)

	smartdrive (vex::motor &l, vex::motor &r, vex::gyro &g, float wheelTravel=200, float trackWidth=176, float wheelBase=50, distanceUnits unit=distanceUnits::mm, float externalGearRatio=1.0)

	~smartdrive ()

bool	turnToHeading (float angle, rotationUnits units, bool waitForCompletion=true)
	Turn on the motors and rotate to a heading at the default velocity. More...

void	startTurnToHeading (float angle, rotationUnits units)

bool	turnToHeading (float angle, rotationUnits units, float velocity, velocityUnits units_v, bool waitForCompletion=true)
	Turn on the motors and rotate to a heading at a specified velocity. More...

void	startTurnToHeading (float angle, rotationUnits units, float velocity, velocityUnits units_v)

bool	turnToRotation (float angle, rotationUnits units, bool waitForCompletion=true)
	Turn on the motors and rotate to an angle at the default velocity. More...

void	startTurnToRotation (float angle, rotationUnits units)

bool	turnToRotation (float angle, rotationUnits units, float velocity, velocityUnits units_v, bool waitForCompletion=true)
	Turn on the motors and rotate to an angle at a specified velocity. More...

void	startTurnToRotation (float angle, rotationUnits units, float velocity, velocityUnits units_v)

virtual bool	turnFor (turnType dir, float angle, rotationUnits units, bool waitForCompletion=true)
	Turn on the motors and rotate an angle at the default velocity. More...

virtual void	startTurnFor (turnType dir, float angle, rotationUnits units)
	Start turning the drivetrain for a given angle. More...

virtual bool	turnFor (float angle, rotationUnits units, bool waitForCompletion=true)
	Turn on the motors and rotate an angle at the default velocity. More...

virtual void	startTurnFor (float angle, rotationUnits units)
	Start turning the drivetrain for a given angle. More...

virtual bool	turnFor (turnType dir, float angle, rotationUnits units, float velocity, velocityUnits units_v, bool waitForCompletion=true)
	Turn on the motors and rotate an angle at a specified velocity. More...

virtual void	startTurnFor (turnType dir, float angle, rotationUnits units, float velocity, velocityUnits units_v)
	Start turning the drivetrain for a given angle at a given velocity. More...

virtual bool	turnFor (float angle, rotationUnits units, float velocity, velocityUnits units_v, bool waitForCompletion=true)
	Turn on the motors and rotate an angle at a specified velocity. More...

virtual void	startTurnFor (float angle, rotationUnits units, float velocity, velocityUnits units_v)
	Start turning the drivetrain for a given angle at a given velocity. More...

void	setHeading (float value, rotationUnits units)
	set the gyro sensor heading to angle More...

void	setRotation (float value, rotationUnits units)
	set the gyro sensor rotation to angle More...

float	heading (rotationUnits units=rotationUnits::deg)
	Gets the heading (angle) of the gyro sensor. More...

float	rotation (rotationUnits units=rotationUnits::deg)
	Gets the rotation (absolute angle) of the gyro sensor. More...

bool	isTurning ()
	Checks to see if the turnToHeading, turnToRotation or turnFor function is still running. More...

virtual bool	isMoving ()
	Checks to see if any of the motors are rotating to a specific target. More...

Public Member Functions inherited from vex::drivetrain
	drivetrain (vex::motor_group &leftMotors, vex::motor_group &rightMotors, float wheelTravel=200, float trackWidth=176, float wheelBase=50, distanceUnits unit=distanceUnits::mm, float externalGearRatio=1.0)
	Creates a new drivetrain object. More...

	drivetrain (vex::motor &leftMotor, vex::motor &rightMotor, float wheelTravel=200, float trackWidth=176, float wheelBase=50, distanceUnits unit=distanceUnits::mm, float externalGearRatio=1.0)

	~drivetrain ()

void	setGearRatio (float ratio)
	Sets the external gear ratio of the drivetrain. More...

void	setDriveVelocity (float velocity, velocityUnits units)
	Sets the velocity of the drive based on the parameters set in the command. This command will not run the motor. Any subsequent call that does not contain a specified motor velocity will use this value. More...

void	setDriveVelocity (float velocity, percentUnits units)

void	setTurnVelocity (float velocity, velocityUnits units)
	Sets the turn velocity of the drive based on the parameters set in the command. This command will not run the motor. More...

void	setTurnVelocity (float velocity, percentUnits units)

void	setTimeout (float time, timeUnits units)
	Sets the timeout for the motor group. If the motor group does not reach its commanded position prior to the completion of the timeout, the motors will stop. More...

float	timeout (timeUnits units)

bool	didTimeout ()

void	setStopping (brakeType mode)
	Sets the stopping mode of the motor group by passing a brake mode as a parameter. More...

void	drive (directionType dir)
	Turns the motors on, and drive in the specified direction. More...

void	drive (directionType dir, float velocity, velocityUnits units)
	Turn on the motors and drive in the specified direction and a specified velocity. More...

bool	driveFor (float distance, distanceUnits units, bool waitForCompletion=true)
	Turn on the motors and drive a distance at the default velocity. More...

bool	driveFor (directionType dir, float distance, distanceUnits units, bool waitForCompletion=true)
	Turn on the motors and drive a distance at the default velocity. More...

bool	driveFor (float distance, distanceUnits units, float velocity, velocityUnits units_v, bool waitForCompletion=true)
	Turn on the motors and drive a distance at a specified velocity. More...

bool	driveFor (directionType dir, float distance, distanceUnits units, float velocity, velocityUnits units_v, bool waitForCompletion=true)
	Turn on the motors and drive a distance at a specified velocity. More...

void	startDriveFor (float distance, distanceUnits distUnit)
	Start driving a distance at a pre-set velocity. More...

void	startDriveFor (directionType dir, float distance, distanceUnits distUnit)
	Start driving a distance at a pre-set velocity. More...

void	startDriveFor (float distance, distanceUnits distUnit, float velocity, velocityUnits velUnit)
	Start driving a distance at a specified velocity. More...

void	startDriveFor (directionType dir, float distance, distanceUnits distUnit, float velocity, velocityUnits velUnit)
	Start driving a distance at a specified velocity. More...

void	turn (turnType dir)
	Turns the motors on, and rotate in the specified direction. More...

void	turn (turnType dir, float velocity, velocityUnits units)
	Turns the motors on, and rotate in the specified direction and a specified velocity. More...

bool	isDone (void)
	Checks to see if all the motor are done rotating to a specific target. More...

void	stop ()
	Stops the drive using the default brake mode. More...

void	stop (brakeType mode)
	Stops the drive using a specified brake mode. More...

void	arcade (float drivePower, float turnPower, percentUnits units=percentUnits::pct)
	Drive in arcade mode, normally corresponding to two controller joystick axis values. More...

float	velocity (velocityUnits units)
	Gets the average velocity of the drivetrain;. More...

float	velocity (percentUnits units)

float	current (currentUnits units=currentUnits::amp)
	Gets the total current of the drivetrain;. More...

Additional Inherited Members
Protected Attributes inherited from vex::drivetrain
Drivetrain_t	_dt

Constructor & Destructor Documentation

◆ smartdrive() [1/2]

vex::smartdrive::smartdrive	(	motor_group &	l,
		motor_group &	r,
		vex::gyro &	g,
		float	wheelTravel = `200`,
		float	trackWidth = `176`,
		float	wheelBase = `50`,
		distanceUnits	unit = `distanceUnits::mm`,
		float	externalGearRatio = `1.0`
	)

◆ smartdrive() [2/2]

vex::smartdrive::smartdrive	(	vex::motor &	l,
		vex::motor &	r,
		vex::gyro &	g,
		float	wheelTravel = `200`,
		float	trackWidth = `176`,
		float	wheelBase = `50`,
		distanceUnits	unit = `distanceUnits::mm`,
		float	externalGearRatio = `1.0`
	)

◆ ~smartdrive()

vex::smartdrive::~smartdrive ( )

Member Function Documentation

◆ turnToHeading() [1/2]

bool vex::smartdrive::turnToHeading	(	float	angle,
		rotationUnits	units,
		bool	waitForCompletion = `true`
	)

Turn on the motors and rotate to a heading at the default velocity.

Returns: Returns a Boolean that signifies when the motor has reached the target rotation value.

Parameters

angle	Sets the angle to turn.
units	The measurement unit for the angle value.
waitForCompletion	(Optional) If true, your program will wait until the motor reaches the target rotational value. If false, the program will continue after calling this function. By default, this parameter is true.

◆ startTurnToHeading() [1/2]

void vex::smartdrive::startTurnToHeading	(	float	angle,
		rotationUnits	units
	)

inline

◆ turnToHeading() [2/2]

bool vex::smartdrive::turnToHeading	(	float	angle,
		rotationUnits	units,
		float	velocity,
		velocityUnits	units_v,
		bool	waitForCompletion = `true`
	)

Turn on the motors and rotate to a heading at a specified velocity.

Returns: Returns a Boolean that signifies when the motor has reached the target rotation value.

Parameters

angle	Sets the angle to turn.
units	The measurement unit for the angle value.
velocity	Sets the amount of velocity.
units_v	The measurement unit for the velocity value.
waitForCompletion	(Optional) If true, your program will wait until the motor reaches the target rotational value. If false, the program will continue after calling this function. By default, this parameter is true.

◆ startTurnToHeading() [2/2]

void vex::smartdrive::startTurnToHeading	(	float	angle,
		rotationUnits	units,
		float	velocity,
		velocityUnits	units_v
	)

inline

◆ turnToRotation() [1/2]

bool vex::smartdrive::turnToRotation	(	float	angle,
		rotationUnits	units,
		bool	waitForCompletion = `true`
	)

Turn on the motors and rotate to an angle at the default velocity.

Returns: Returns a Boolean that signifies when the motor has reached the target rotation value.

Parameters

angle	Sets the angle to turn.
units	The measurement unit for the angle value.
waitForCompletion	(Optional) If true, your program will wait until the motor reaches the target rotational value. If false, the program will continue after calling this function. By default, this parameter is true.

◆ startTurnToRotation() [1/2]

void vex::smartdrive::startTurnToRotation	(	float	angle,
		rotationUnits	units
	)

inline

◆ turnToRotation() [2/2]

bool vex::smartdrive::turnToRotation	(	float	angle,
		rotationUnits	units,
		float	velocity,
		velocityUnits	units_v,
		bool	waitForCompletion = `true`
	)

Turn on the motors and rotate to an angle at a specified velocity.

Returns: Returns a Boolean that signifies when the motor has reached the target rotation value.

Parameters

angle	Sets the angle to turn.
units	The measurement unit for the angle value.
velocity	Sets the amount of velocity.
units_v	The measurement unit for the velocity value.
waitForCompletion	(Optional) If true, your program will wait until the motor reaches the target rotational value. If false, the program will continue after calling this function. By default, this parameter is true.

◆ startTurnToRotation() [2/2]

void vex::smartdrive::startTurnToRotation	(	float	angle,
		rotationUnits	units,
		float	velocity,
		velocityUnits	units_v
	)

inline

◆ turnFor() [1/4]

virtual bool vex::smartdrive::turnFor	(	turnType	dir,
		float	angle,
		rotationUnits	units,
		bool	waitForCompletion = `true`
	)

virtual

Turn on the motors and rotate an angle at the default velocity.

Returns: Returns a Boolean that signifies when the motor has reached the target rotation value.

Parameters

dir	Sets the direction to turn.
angle	Sets the angle to turn.
units	The measurement unit for the angle value.
waitForCompletion	(Optional) If true, your program will wait until the motor reaches the target rotational value. If false, the program will continue after calling this function. By default, this parameter is true.

Reimplemented from vex::drivetrain.

◆ startTurnFor() [1/4]

virtual void vex::smartdrive::startTurnFor	(	turnType	dir,
		float	angle,
		rotationUnits	angleUnit
	)

inlinevirtual

Start turning the drivetrain for a given angle.

Parameters

dir	Direction to turn in, left or right.
angle	Sets the angle to turn.
angleUnit	The measurement unit for the angle value.

Reimplemented from vex::drivetrain.

◆ turnFor() [2/4]

virtual bool vex::smartdrive::turnFor	(	float	angle,
		rotationUnits	units,
		bool	waitForCompletion = `true`
	)

virtual

Turn on the motors and rotate an angle at the default velocity.

Returns: Returns a Boolean that signifies when the motor has reached the target rotation value.

Parameters

angle	Sets the angle to turn.
units	The measurement unit for the angle value.
waitForCompletion	(Optional) If true, your program will wait until the motor reaches the target rotational value. If false, the program will continue after calling this function. By default, this parameter is true.

Reimplemented from vex::drivetrain.

◆ startTurnFor() [2/4]

virtual void vex::smartdrive::startTurnFor	(	float	angle,
		rotationUnits	angleUnit
	)

inlinevirtual

Start turning the drivetrain for a given angle.

Parameters

angle	Sets the angle to turn.
angleUnit	The measurement unit for the angle value.

Reimplemented from vex::drivetrain.

◆ turnFor() [3/4]

virtual bool vex::smartdrive::turnFor	(	turnType	dir,
		float	angle,
		rotationUnits	units,
		float	velocity,
		velocityUnits	units_v,
		bool	waitForCompletion = `true`
	)

virtual

Turn on the motors and rotate an angle at a specified velocity.

Returns: Returns a Boolean that signifies when the motor has reached the target rotation value.

Parameters

dir	Sets the direction to turn.
angle	Sets the angle to turn.
units	The measurement unit for the angle value.
velocity	Sets the amount of velocity.
units_v	The measurement unit for the velocity value.
waitForCompletion	(Optional) If true, your program will wait until the motor reaches the target rotational value. If false, the program will continue after calling this function. By default, this parameter is true.

Reimplemented from vex::drivetrain.

◆ startTurnFor() [3/4]

virtual void vex::smartdrive::startTurnFor	(	turnType	dir,
		float	angle,
		rotationUnits	angleUnit,
		float	velocity,
		velocityUnits	velUnit
	)

inlinevirtual

Start turning the drivetrain for a given angle at a given velocity.

Parameters

dir	Direction to turn in, left or right.
angle	Sets the angle to turn.
angleUnit	The measurement unit for the angle value.
velocity	Sets the amount of velocity.
velUnit	The measurement unit for the velocity value.

Reimplemented from vex::drivetrain.

◆ turnFor() [4/4]

virtual bool vex::smartdrive::turnFor	(	float	angle,
		rotationUnits	units,
		float	velocity,
		velocityUnits	units_v,
		bool	waitForCompletion = `true`
	)

virtual

Turn on the motors and rotate an angle at a specified velocity.

Returns: Returns a Boolean that signifies when the motor has reached the target rotation value.

Parameters

angle	Sets the angle to turn.
units	The measurement unit for the angle value.
velocity	Sets the amount of velocity.
units_v	The measurement unit for the velocity value.
waitForCompletion	(Optional) If true, your program will wait until the motor reaches the target rotational value. If false, the program will continue after calling this function. By default, this parameter is true.

Reimplemented from vex::drivetrain.

◆ startTurnFor() [4/4]

virtual void vex::smartdrive::startTurnFor	(	float	angle,
		rotationUnits	angleUnit,
		float	velocity,
		velocityUnits	velUnit
	)

inlinevirtual

Start turning the drivetrain for a given angle at a given velocity.

Parameters

angle	Sets the angle to turn.
angleUnit	The measurement unit for the angle value.
velocity	Sets the amount of velocity.
velUnit	The measurement unit for the velocity value.

Reimplemented from vex::drivetrain.

◆ setHeading()

void vex::smartdrive::setHeading	(	float	value,
		rotationUnits	units
	)

set the gyro sensor heading to angle

Parameters

value	The new heading for the gyro
units	The rotation unit for the angle

◆ setRotation()

void vex::smartdrive::setRotation	(	float	value,
		rotationUnits	units
	)

set the gyro sensor rotation to angle

Parameters

value	The new absolute angle for the gyro
units	The rotation unit for the angle

◆ heading()

float vex::smartdrive::heading ( rotationUnits units = rotationUnits::deg )

Gets the heading (angle) of the gyro sensor.

Returns: Returns a float that represents the unit value specified by the parameter of the gyro sensor.

Parameters

units The measurement unit for the gyro device.

◆ rotation()

float vex::smartdrive::rotation ( rotationUnits units = rotationUnits::deg )

Gets the rotation (absolute angle) of the gyro sensor.

Returns: Returns a float that represents the unit value specified by the parameter of the gyro sensor.

Parameters

units The measurement unit for the gyro device.

◆ isTurning()

bool vex::smartdrive::isTurning ( )

Checks to see if the turnToHeading, turnToRotation or turnFor function is still running.

Returns: Returns a true Boolean if the motor is on and is rotating to a target. Returns a false Boolean if the motor is done rotating to a target.

◆ isMoving()

virtual bool vex::smartdrive::isMoving ( )

virtual

Checks to see if any of the motors are rotating to a specific target.

Returns: Returns a true Boolean if the motor is on and is rotating to a target. Returns a false Boolean if the motor is done rotating to a target.

Reimplemented from vex::drivetrain.

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ smartdrive() [1/2]

◆ smartdrive() [2/2]

◆ ~smartdrive()

Member Function Documentation

◆ turnToHeading() [1/2]

◆ startTurnToHeading() [1/2]

◆ turnToHeading() [2/2]

◆ startTurnToHeading() [2/2]

◆ turnToRotation() [1/2]

◆ startTurnToRotation() [1/2]

◆ turnToRotation() [2/2]

◆ startTurnToRotation() [2/2]

◆ turnFor() [1/4]

◆ startTurnFor() [1/4]

◆ turnFor() [2/4]

◆ startTurnFor() [2/4]

◆ turnFor() [3/4]

◆ startTurnFor() [3/4]

◆ turnFor() [4/4]

◆ startTurnFor() [4/4]

◆ setHeading()

◆ setRotation()

◆ heading()

◆ rotation()

◆ isTurning()

◆ isMoving()