Inherited by vex::smartdrive.

Public Member Functions
	drivetrain (motor_group &leftMotors, motor_group &rightMotors, double wheelTravel=319.1764, double trackWidth=292.1, double wheelBase=130, distanceUnits unit=distanceUnits::mm, double externalGearRatio=1.0)
	Creates a new drivetrain object. More...

	drivetrain (vex::motor &leftMotor, vex::motor &rightMotor, double wheelTravel=319.1764, double trackWidth=292.1, double wheelBase=130, distanceUnits unit=distanceUnits::mm, double externalGearRatio=1.0)

	~drivetrain ()

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

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

void	setDriveVelocity (double velocity, percentUnits units)

void	setTurnVelocity (double 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 (double velocity, percentUnits units)

void	setTimeout (double time, timeUnits units)
	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. More...

double	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, double velocity, velocityUnits units)
	Turn on the motors and drive in the specified direction and a specified velocity. More...

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

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

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

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

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

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

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

void	startDriveFor (directionType dir, double 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, double velocity, velocityUnits units)
	Turns the motors on, and rotate in the specified direction and a specified velocity. More...

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

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

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

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

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

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

virtual void	startTurnFor (double angle, rotationUnits angleUnit, double velocity, velocityUnits velUnit)
	Start turning the drivetrain for a given angle at a given velocity. More...

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

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

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

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

double	velocity (percentUnits units)

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

double	power (powerUnits units=powerUnits::watt)
	Gets the average power of the drivetrain;. More...

double	torque (torqueUnits units=torqueUnits::Nm)
	Gets the average torque of the drivetrain;. More...

double	efficiency (percentUnits units=percentUnits::pct)
	Gets the average efficiency of the drivetrain;. More...

double	temperature (percentUnits units)
	Gets the average temperature of the drivetrain;. More...

Protected Attributes
double	_turnVelocity

velocityUnits	_turnVelUnit

Constructor & Destructor Documentation

◆ drivetrain() [1/2]

vex::drivetrain::drivetrain	(	motor_group &	leftMotors,
		motor_group &	rightMotors,
		double	wheelTravel = `319.1764`,
		double	trackWidth = `292.1`,
		double	wheelBase = `130`,
		distanceUnits	unit = `distanceUnits::mm`,
		double	externalGearRatio = `1.0`
	)

Creates a new drivetrain object.

Parameters

leftMotors	motor group driving the left side of the drivetrain
rightMotors	motor group driving the right side of the drivetrain
wheelTravel	circumference of the wheel type used
trackWidth	distance between the wheels on opposite sides
wheelBase
unit	distance unit for wheelTravel and trackWith
externalGearRatio	external gear ratio, usually 1.0

◆ drivetrain() [2/2]

vex::drivetrain::drivetrain	(	vex::motor &	leftMotor,
		vex::motor &	rightMotor,
		double	wheelTravel = `319.1764`,
		double	trackWidth = `292.1`,
		double	wheelBase = `130`,
		distanceUnits	unit = `distanceUnits::mm`,
		double	externalGearRatio = `1.0`
	)

◆ ~drivetrain()

vex::drivetrain::~drivetrain ( )

Member Function Documentation

◆ setGearRatio()

void vex::drivetrain::setGearRatio ( double ratio )

Sets the external gear ratio of the drivetrain.

Parameters

ratio gear ratio value, usually 1.0

◆ setDriveVelocity() [1/2]

void vex::drivetrain::setDriveVelocity	(	double	velocity,
		velocityUnits	units
	)

Sets the velocity of the drive based on the parameters set in the command. This command will not run the motors. Any subsequent call that does not contain a specified motor velocity will use this value.

Parameters

velocity	Sets the amount of velocity.
units	The measurement unit for the velocity value.

◆ setDriveVelocity() [2/2]

void vex::drivetrain::setDriveVelocity	(	double	velocity,
		percentUnits	units
	)

◆ setTurnVelocity() [1/2]

void vex::drivetrain::setTurnVelocity	(	double	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.

Parameters

velocity	Sets the amount of velocity.
units	The measurement unit for the velocity value.

◆ setTurnVelocity() [2/2]

void vex::drivetrain::setTurnVelocity	(	double	velocity,
		percentUnits	units
	)

◆ setTimeout()

void vex::drivetrain::setTimeout	(	double	time,
		timeUnits	units
	)

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.

Parameters

time	Sets the amount of time.
units	The measurement unit for the time value.

◆ timeout()

double vex::drivetrain::timeout ( timeUnits units )

Returns: a timeout in given time units

◆ didTimeout()

bool vex::drivetrain::didTimeout ( )

Returns: True if the last drivetrain operation timed out

◆ setStopping()

void vex::drivetrain::setStopping ( brakeType mode )

Sets the stopping mode of the motor group by passing a brake mode as a parameter.

Parameters

mode	The stopping mode can be set to coast, brake, or hold.

◆ drive() [1/2]

void vex::drivetrain::drive ( directionType dir )

Turns the motors on, and drive in the specified direction.

Parameters

dir	The direction to drive.

◆ drive() [2/2]

void vex::drivetrain::drive	(	directionType	dir,
		double	velocity,
		velocityUnits	units
	)

Turn on the motors and drive in the specified direction and a specified velocity.

Parameters

dir	The direction to drive.
velocity	Sets the amount of velocity.
units	The measurement unit for the velocity value.

◆ driveFor() [1/4]

bool vex::drivetrain::driveFor	(	double	distance,
		distanceUnits	units,
		bool	waitForCompletion = `true`
	)

Turn on the motors and drive a distance at the default velocity.

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

Parameters

distance	Sets the distance to drive.
units	The measurement unit for the distance 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.

◆ driveFor() [2/4]

bool vex::drivetrain::driveFor	(	directionType	dir,
		double	distance,
		distanceUnits	units,
		bool	waitForCompletion = `true`
	)

Turn on the motors and drive a distance at a specified velocity.

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

Parameters

dir	The direction to drive in.
distance	Sets the distance to drive.
units	The measurement unit for the distance 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.

◆ driveFor() [3/4]

bool vex::drivetrain::driveFor	(	double	distance,
		distanceUnits	units,
		double	velocity,
		velocityUnits	units_v,
		bool	waitForCompletion = `true`
	)

Turn on the motors and drive a distance at a specified velocity.

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

Parameters

distance	Sets the distance to drive.
units	The measurement unit for the distance 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.

◆ driveFor() [4/4]

bool vex::drivetrain::driveFor	(	directionType	dir,
		double	distance,
		distanceUnits	units,
		double	velocity,
		velocityUnits	units_v,
		bool	waitForCompletion = `true`
	)

Turn on the motors and drive a distance at a specified velocity.

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

Parameters

dir	The direction to drive in.
distance	Sets the distance to drive.
units	The measurement unit for the distance 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.

◆ startDriveFor() [1/4]

void vex::drivetrain::startDriveFor	(	double	distance,
		distanceUnits	distUnit
	)

Start driving a distance at a pre-set velocity.

Parameters

distance	Sets the distance to drive.
distUnit	The measurement unit for the distance value.

◆ startDriveFor() [2/4]

void vex::drivetrain::startDriveFor	(	directionType	dir,
		double	distance,
		distanceUnits	distUnit
	)

Start driving a distance at a pre-set velocity.

Parameters

dir	The direction to drive in.
distance	Sets the distance to drive.
distUnit	The measurement unit for the distance value.

◆ startDriveFor() [3/4]

void vex::drivetrain::startDriveFor	(	double	distance,
		distanceUnits	distUnit,
		double	velocity,
		velocityUnits	velUnit
	)

Start driving a distance at a specified velocity.

Parameters

distance	Sets the distance to drive.
distUnit	The measurement unit for the distance value.
velocity	Sets the amount of velocity.
velUnit	The measurement unit for the velocity value.

◆ startDriveFor() [4/4]

void vex::drivetrain::startDriveFor	(	directionType	dir,
		double	distance,
		distanceUnits	distUnit,
		float	velocity,
		velocityUnits	velUnit
	)

Start driving a distance at a specified velocity.

Parameters

dir	The direction to drive in.
distance	Sets the distance to drive.
distUnit	The measurement unit for the distance value.
velocity	Sets the amount of velocity.
velUnit	The measurement unit for the velocity value.

◆ turn() [1/2]

void vex::drivetrain::turn ( turnType dir )

Turns the motors on, and rotate in the specified direction.

Parameters

dir	The direction to rotate the robot.

◆ turn() [2/2]

void vex::drivetrain::turn	(	turnType	dir,
		double	velocity,
		velocityUnits	units
	)

Turns the motors on, and rotate in the specified direction and a specified velocity.

Parameters

dir	The direction to rotate the robot.
velocity	Sets the amount of velocity.
units	The measurement unit for the velocity value.

◆ turnFor() [1/4]

virtual bool vex::drivetrain::turnFor	(	double	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 in vex::smartdrive.

◆ turnFor() [2/4]

virtual bool vex::drivetrain::turnFor	(	turnType	dir,
		double	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	Direction to turn in, left or right.
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 in vex::smartdrive.

◆ turnFor() [3/4]

virtual bool vex::drivetrain::turnFor	(	double	angle,
		rotationUnits	units,
		double	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 in vex::smartdrive.

◆ turnFor() [4/4]

virtual bool vex::drivetrain::turnFor	(	turnType	dir,
		double	angle,
		rotationUnits	units,
		double	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	Direction to turn in, left or right.
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 in vex::smartdrive.

◆ startTurnFor() [1/4]

virtual void vex::drivetrain::startTurnFor	(	double	angle,
		rotationUnits	angleUnit
	)

virtual

Start turning the drivetrain for a given angle.

Parameters

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

Reimplemented in vex::smartdrive.

◆ startTurnFor() [2/4]

virtual void vex::drivetrain::startTurnFor	(	turnType	dir,
		double	angle,
		rotationUnits	angleUnit
	)

virtual

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 in vex::smartdrive.

◆ startTurnFor() [3/4]

virtual void vex::drivetrain::startTurnFor	(	double	angle,
		rotationUnits	angleUnit,
		double	velocity,
		velocityUnits	velUnit
	)

virtual

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 in vex::smartdrive.

◆ startTurnFor() [4/4]

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

virtual

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 in vex::smartdrive.

◆ arcade()

void vex::drivetrain::arcade	(	double	drivePower,
		double	turnPower,
		percentUnits	units = `percentUnits::pct`
	)

Drive in arcade mode, normally corresponding to two controller joystick axis values.

Parameters

drivePower	percent power to apply to driving, -100..100
turnPower	percent power to apply to turning, -100..100
units	percent

◆ isMoving()

virtual bool vex::drivetrain::isMoving ( void )

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 in vex::smartdrive.

◆ isDone()

bool vex::drivetrain::isDone ( void )

Checks to see if all the motor are done rotating to a specific target.

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

◆ stop() [1/2]

void vex::drivetrain::stop ( )

Stops the drive using the default brake mode.

◆ stop() [2/2]

void vex::drivetrain::stop ( brakeType mode )

Stops the drive using a specified brake mode.

Parameters

mode	The brake mode can be set to coast, brake, or hold.

◆ velocity() [1/2]

double vex::drivetrain::velocity ( velocityUnits units )

Gets the average velocity of the drivetrain;.

Returns: Returns a double that represents the current velocity of the motor in the units defined in the parameter.

Parameters

units The measurement unit for the velocity.

◆ velocity() [2/2]

double vex::drivetrain::velocity ( percentUnits units )

inline

◆ current()

double vex::drivetrain::current ( currentUnits units = currentUnits::amp )

Gets the total current of the drivetrain;.

Returns: Returns a double that represents the electrical current of the motor in the units defined in the parameter.

Parameters

units The measurement unit for the current.

◆ power()

double vex::drivetrain::power ( powerUnits units = powerUnits::watt )

Gets the average power of the drivetrain;.

Returns: Returns a double that represents the power of the motor in the units defined in the parameter.

Parameters

units The measurement unit for the power.

◆ torque()

double vex::drivetrain::torque ( torqueUnits units = torqueUnits::Nm )

Gets the average torque of the drivetrain;.

Returns: Returns a double that represents the torque of the motor in the units defined in the parameter.

Parameters

units The measurement unit for the torque.

◆ efficiency()

double vex::drivetrain::efficiency ( percentUnits units = percentUnits::pct )

Gets the average efficiency of the drivetrain;.

Returns: Returns the efficiency of the motor in the units defined in the parameter.

Parameters

units (Optional) The measurement unit for the efficiency. By default, this parameter is a percentage.

◆ temperature()

double vex::drivetrain::temperature ( percentUnits units )

Gets the average temperature of the drivetrain;.

Returns: Returns the temperature of the motor in the units defined in the parameter.

Parameters

units The measurement unit for the temperature.

Member Data Documentation

◆ _turnVelocity

double vex::drivetrain::_turnVelocity

protected

◆ _turnVelUnit

velocityUnits vex::drivetrain::_turnVelUnit

protected

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ drivetrain() [1/2]

◆ drivetrain() [2/2]

◆ ~drivetrain()

Member Function Documentation

◆ setGearRatio()

◆ setDriveVelocity() [1/2]

◆ setDriveVelocity() [2/2]

◆ setTurnVelocity() [1/2]

◆ setTurnVelocity() [2/2]

◆ setTimeout()

◆ timeout()

◆ didTimeout()

◆ setStopping()

◆ drive() [1/2]

◆ drive() [2/2]

◆ driveFor() [1/4]

◆ driveFor() [2/4]

◆ driveFor() [3/4]

◆ driveFor() [4/4]

◆ startDriveFor() [1/4]

◆ startDriveFor() [2/4]

◆ startDriveFor() [3/4]

◆ startDriveFor() [4/4]

◆ turn() [1/2]

◆ turn() [2/2]

◆ turnFor() [1/4]

◆ turnFor() [2/4]

◆ turnFor() [3/4]

◆ turnFor() [4/4]

◆ startTurnFor() [1/4]

◆ startTurnFor() [2/4]

◆ startTurnFor() [3/4]

◆ startTurnFor() [4/4]

◆ arcade()

◆ isMoving()

◆ isDone()

◆ stop() [1/2]

◆ stop() [2/2]

◆ velocity() [1/2]

◆ velocity() [2/2]

◆ current()

◆ power()

◆ torque()

◆ efficiency()

◆ temperature()

Member Data Documentation

◆ _turnVelocity

◆ _turnVelUnit