VEX IQ Python API
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Creates a new smartdrive object. More...
Public Member Functions | |
def | __init__ (self, left_motor, right_motor, gyro, wheel_travel=200, track_width=176, distanceUnits=DistanceUnits.MM, gear_ratio=1.0) |
def | turn_to_heading (self, angle, angleUnits=RotationUnits.DEG, velocity=None, velocityUnits=VelocityUnits.PCT, waitForCompletion=True) |
Turn on the motors and rotate to a heading at the default velocity. More... | |
def | turn_to_rotation (self, angle, angleUnits=RotationUnits.DEG, velocity=None, velocityUnits=VelocityUnits.PCT, waitForCompletion=True) |
def | turn_for (self, turnType, angle, angleUnits=RotationUnits.DEG, velocity=None, velocityUnits=VelocityUnits.PCT, waitForCompletion=True) |
Turn the drivetrain left or right until the specified angle is reached. More... | |
def | start_turn_to_heading (self, angle, angleUnits=RotationUnits.DEG, velocity=None, velocityUnits=VelocityUnits.PCT) |
def | start_turn_to_rotation (self, angle, angleUnits=RotationUnits.DEG, velocity=None, velocityUnits=VelocityUnits.PCT) |
def | start_turn_for (self, turnType, angle, angleUnits=RotationUnits.DEG, velocity=None, velocityUnits=VelocityUnits.PCT) |
Start turning the drivetrain left or right unitl the specified angle is reached. More... | |
def | is_done (self) |
Checks to see if the turnToHeading, turnToRotation or turnFor function is still running. More... | |
def | drive (self, directionType, velocity=None, velocityUnits=VelocityUnits.PCT) |
Turns the motors on and drives in the specified direction. More... | |
def | drive_for (self, directionType, distance, distanceUnits=DistanceUnits.MM, velocity=None, velocityUnits=VelocityUnits.PCT, waitForCompletion=True) |
Drives for a specified distance. More... | |
def | start_drive_for (self, directionType, distance, distanceUnits=DistanceUnits.MM, velocity=None, velocityUnits=VelocityUnits.PCT) |
Start driving for a specified distance. More... | |
def | turn (self, turnType, velocity=None, velocityUnits=VelocityUnits.PCT) |
Turn the drivetrain left or right. More... | |
def | arcade (self, drivePower, turnPower) |
Drive in arcade mode, normally corresponding to two controller joystick axis values. More... | |
def | stop (self, brakeType=None) |
Stops the drive using a specified brake mode. More... | |
def | set_gear_ratio (self, gear_ratio) |
Sets the external gear ratio of the drivetrain. More... | |
def | set_drive_velocity (self, velocity, velocityUnits=VelocityUnits.PCT) |
Sets the velocity of the drive. More... | |
def | set_turn_velocity (self, velocity, velocityUnits=VelocityUnits.PCT) |
Sets the velocity of the turn. More... | |
def | set_timeout (self, time, timeUnits=TimeUnits.SEC) |
Sets the timeout for the drivetrain. More... | |
def | timeout (self, timeUnits=TimeUnits.SEC) |
Returns a timeout in given time units. More... | |
def | did_timeout (self) |
True if the last drivetrain operation timed out, False otherwise. More... | |
def | set_stopping (self, brakeType) |
Sets the stopping mode of the motor group by passing a brake mode as a parameter. More... | |
def | velocity (self, velocityUnits=VelocityUnits.PCT) |
Gets the average current velocity of all motors. More... | |
def | current (self) |
Gets the electrical current of all motors. More... | |
Public Attributes | |
gyro | |
Creates a new smartdrive object.
left_motor | the motor, motor group or a list/tuple of motors driving the left side of the drivetrain |
right_motor | the motor, motor group or a list/tuple of motors driving the right side of the drivetrain |
gyro | the gyro or initial sensor used to determine orientation |
wheel_travel | circumference of the wheel type used |
track_width | distance between the wheels on opposite sides |
distanceUnits | unit for wheel_travel and track_with, a DistanceUnits enum value |
gear_ratio | external gear ratio, usually 1.0 |
def smartdrive.Smartdrive.__init__ | ( | self, | |
left_motor, | |||
right_motor, | |||
gyro, | |||
wheel_travel = 200 , |
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track_width = 176 , |
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distanceUnits = DistanceUnits.MM , |
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gear_ratio = 1.0 |
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) |
def smartdrive.Smartdrive.turn_to_heading | ( | self, | |
angle, | |||
angleUnits = RotationUnits.DEG , |
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velocity = None , |
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velocityUnits = VelocityUnits.PCT , |
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waitForCompletion = True |
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) |
Turn on the motors and rotate to a heading at the default velocity.
angle | Sets the angle to turn. |
angleUnits | The measurement unit for the angle value. |
velocity | Sets the amount of velocity. |
velocityUnits | 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. |
def smartdrive.Smartdrive.turn_to_rotation | ( | self, | |
angle, | |||
angleUnits = RotationUnits.DEG , |
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velocity = None , |
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velocityUnits = VelocityUnits.PCT , |
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waitForCompletion = True |
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) |
def smartdrive.Smartdrive.turn_for | ( | self, | |
turnType, | |||
angle, | |||
rotationUnits = RotationUnits.DEG , |
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velocity = None , |
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velocityUnits = VelocityUnits.PCT , |
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waitForCompletion = True |
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) |
Turn the drivetrain left or right until the specified angle is reached.
turnType | direction to turn in, left or right, a TurnType enum value |
angle | sets the angle to turn |
rotationUnits | units for the angle parameter, a RotationUnits enum value |
velocity | set velocity of the motors |
velocityUnits | unit for the velocity parameter, a VelocityUnits enum value |
waitForCompletion | if True, your program will wait until the motor reaches the target rotational value, otherwise it will continue immediately. |
Reimplemented from drivetrain.Drivetrain.
def smartdrive.Smartdrive.start_turn_to_heading | ( | self, | |
angle, | |||
angleUnits = RotationUnits.DEG , |
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velocity = None , |
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velocityUnits = VelocityUnits.PCT |
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) |
def smartdrive.Smartdrive.start_turn_to_rotation | ( | self, | |
angle, | |||
angleUnits = RotationUnits.DEG , |
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velocity = None , |
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velocityUnits = VelocityUnits.PCT |
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) |
def smartdrive.Smartdrive.start_turn_for | ( | self, | |
turnType, | |||
angle, | |||
angleUnits = RotationUnits.DEG , |
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velocity = None , |
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velocityUnits = VelocityUnits.PCT |
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) |
Start turning the drivetrain left or right unitl the specified angle is reached.
turnType | direction to turn in, left or right, a TurnType enum value |
angle | sets the angle to turn |
angleUnits | units for the angle parameter, a RotationUnits enum value |
velocity | set velocity of the motors |
velocityUnits | unit for the velocity parameter, a VelocityUnits enum value |
Reimplemented from drivetrain.Drivetrain.
def smartdrive.Smartdrive.is_done | ( | self | ) |
Checks to see if the turnToHeading, turnToRotation or turnFor function is still running.
Reimplemented from drivetrain.Drivetrain.
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inherited |
Turns the motors on and drives in the specified direction.
directionType | direction to drive in, forward or reverse, a DirectionType enum value |
velocity | set velocity of the motors |
velocityUnits | unit for the velocity parameter, a VelocityUnits enum value |
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inherited |
Drives for a specified distance.
directionType | direction to drive in, forward or reverse, a DirectionType enum value |
distance | distance to drive in |
distanceUnits | unit for the distance parameter, a DistanceUnits enum value |
velocity | set velocity of the motors |
velocityUnits | unit for the velocity parameter, a VelocityUnits enum value |
waitForCompletion | if True, your program will wait until the motor reaches the target rotational value, otherwise it will continue immediately. |
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inherited |
Start driving for a specified distance.
directionType | direction to drive in, forward or reverse, a DirectionType enum value |
distance | distance to drive in |
distanceUnits | unit for the distance parameter, a DistanceUnits enum value |
velocity | set velocity of the motors |
velocityUnits | unit for the velocity parameter, a VelocityUnits enum value |
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inherited |
Turn the drivetrain left or right.
turnType | direction to turn in, left or right, a TurnType enum value |
velocity | set velocity of the motors |
velocityUnits | unit for the velocity parameter, a VelocityUnits enum value |
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inherited |
Drive in arcade mode, normally corresponding to two controller joystick axis values.
drivePower | percent power to apply to driving, -100..100 |
turnPower | percent power to apply to turning, -100..100 |
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inherited |
Stops the drive using a specified brake mode.
brakeType | brake mode, an BrakeType enum value. If omitted, the value set in set_stopping is used. |
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inherited |
Sets the external gear ratio of the drivetrain.
gear_ratio | gear ratio value, usually 1.0 |
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inherited |
Sets the velocity of the drive.
Will not run the motors. Any subsequent call that does not contain a specified velocity will use this value.
velocity | Sets the amount of velocity. |
velocityUnits | unit for the velocity parameter, a VelocityUnits enum value |
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inherited |
Sets the velocity of the turn.
Will not run the motors.
velocity | Sets the amount of velocity. |
velocityUnits | unit for the velocity parameter, a VelocityUnits enum value |
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inherited |
Sets the timeout for the drivetrain.
If the drivetrain does not reach its' commanded position prior to the completion of the timeout, the motors will stop.
time | the amount of time. |
timeUnits | unit for the time parameter, a TimeUnits enum value |
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inherited |
Returns a timeout in given time units.
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inherited |
True if the last drivetrain operation timed out, False otherwise.
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inherited |
Sets the stopping mode of the motor group by passing a brake mode as a parameter.
brakeType | the stopping mode, a BrakeType enum value (coast, brake, or hold). |
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inherited |
Gets the average current velocity of all motors.
velocityUnits | The measurement unit for the velocity. |
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inherited |
Gets the electrical current of all motors.
smartdrive.Smartdrive.gyro |