drivetrain.Drivetrain Class Reference

Creates a new drivetrain object. More...

Inherited by smartdrive.Smartdrive.

Public Member Functions
def	__init__ (self, left_motor, right_motor, wheel_travel=319.1764, track_width=292.1, distanceUnits=DistanceUnits.MM, gear_ratio=1.0)
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	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	turn (self, turnType, velocity=None, velocityUnits=VelocityUnits.PCT)
	Turn the drivetrain left or right. More...
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_drive_for (self, directionType, distance, distanceUnits=DistanceUnits.MM, velocity=None, velocityUnits=VelocityUnits.PCT)
	Start driving for a specified distance. More...
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	arcade (self, drivePower, turnPower, percentUnit=PercentUnits.PCT)
	Drive in arcade mode, normally corresponding to two controller joystick axis values. More...
def	is_moving (self)
	True if drivetrain is moving to a target, False otherwise. More...
def	is_done (self)
	True if drivetrain is done driving/turning to a specified target, False otherwise. More...
def	stop (self, brakeType=None)
	Stops the drive using a specified brake mode. More...
def	velocity (self, velocityUnits=VelocityUnits.PCT)
	Gets the average current velocity of all motors. More...
def	current (self, currentUnits=CurrentUnits.AMP)
	Gets the electrical current of all motors. More...
def	power (self, powerUnits=PowerUnits.WATT)
	Gets the total power of all motors in the drivetrain. More...
def	torque (self, torqueUnits=TorqueUnits.NM)
	Gets the total torque of all motors in the drivetrain. More...
def	efficiency (self, percentUnits=PercentUnits.PCT)
	Gets the average efficiency of the drivetrain. More...
def	temperature (self, percentUnits=PercentUnits.PCT)
	Gets the average temperature of the drivetrain. More...

Detailed Description

Creates a new drivetrain object.

Parameters

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
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

Constructor & Destructor Documentation

__init__()

def drivetrain.Drivetrain.__init__	(		self,
			left_motor,
			right_motor,
			wheel_travel = 319.1764,
			track_width = 292.1,
			distanceUnits = DistanceUnits.MM,
			gear_ratio = 1.0
	)

Member Function Documentation

set_gear_ratio()

def drivetrain.Drivetrain.set_gear_ratio	(		self,
			gear_ratio
	)

Sets the external gear ratio of the drivetrain.

Parameters

gear_ratio

gear ratio value, usually 1.0

set_drive_velocity()

def drivetrain.Drivetrain.set_drive_velocity	(		self,
			velocity,
			velocityUnits = VelocityUnits.PCT
	)

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.

Parameters

velocity	Sets the amount of velocity.
velocityUnits	unit for the velocity parameter, a VelocityUnits enum value

set_turn_velocity()

def drivetrain.Drivetrain.set_turn_velocity	(		self,
			velocity,
			velocityUnits = VelocityUnits.PCT
	)

Sets the velocity of the turn.

Will not run the motors.

Parameters

velocity	Sets the amount of velocity.
velocityUnits	unit for the velocity parameter, a VelocityUnits enum value

set_timeout()

def drivetrain.Drivetrain.set_timeout	(		self,
			time,
			timeUnits = TimeUnits.SEC
	)

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	the amount of time.
timeUnits	unit for the time parameter, a TimeUnits enum value

timeout()

def drivetrain.Drivetrain.timeout	(		self,
			timeUnits = TimeUnits.SEC
	)

Returns a timeout in given time units.

did_timeout()

def drivetrain.Drivetrain.did_timeout

(

self

)

True if the last drivetrain operation timed out, False otherwise.

set_stopping()

def drivetrain.Drivetrain.set_stopping	(		self,
			brakeType
	)

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

Parameters

brakeType

the stopping mode, a BrakeType enum value (coast, brake, or hold).

drive()

def drivetrain.Drivetrain.drive	(		self,
			directionType,
			velocity = None,
			velocityUnits = VelocityUnits.PCT
	)

Turns the motors on and drives in the specified direction.

Parameters

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

drive_for()

def drivetrain.Drivetrain.drive_for	(		self,
			directionType,
			distance,
			distanceUnits = DistanceUnits.MM,
			velocity = None,
			velocityUnits = VelocityUnits.PCT,
			waitForCompletion = True
	)

Drives for a specified distance.

Parameters

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.

Returns

True if the drivetrain has reached the target distance, False otherwise

turn()

def drivetrain.Drivetrain.turn	(		self,
			turnType,
			velocity = None,
			velocityUnits = VelocityUnits.PCT
	)

Turn the drivetrain left or right.

Parameters

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

turn_for()

def drivetrain.Drivetrain.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.

Parameters

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
waitForCompletion	if True, your program will wait until the motor reaches the target rotational value, otherwise it will continue immediately.

Returns

True if the drivetrain has reached the target angle, False otherwise

Reimplemented in smartdrive.Smartdrive.

start_drive_for()

def drivetrain.Drivetrain.start_drive_for	(		self,
			directionType,
			distance,
			distanceUnits = DistanceUnits.MM,
			velocity = None,
			velocityUnits = VelocityUnits.PCT
	)

Start driving for a specified distance.

Parameters

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

start_turn_for()

def drivetrain.Drivetrain.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.

Parameters

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 in smartdrive.Smartdrive.

arcade()

def drivetrain.Drivetrain.arcade	(		self,
			drivePower,
			turnPower,
			percentUnit = 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
percentUnit

is_moving()

def drivetrain.Drivetrain.is_moving

(

self

)

True if drivetrain is moving to a target, False otherwise.

Reimplemented in smartdrive.Smartdrive.

is_done()

def drivetrain.Drivetrain.is_done

(

self

)

True if drivetrain is done driving/turning to a specified target, False otherwise.

Reimplemented in smartdrive.Smartdrive.

stop()

def drivetrain.Drivetrain.stop	(		self,
			brakeType = None
	)

Stops the drive using a specified brake mode.

Parameters

brakeType

brake mode, an BrakeType enum value. If omitted, the value set in set_stopping is used.

velocity()

def drivetrain.Drivetrain.velocity	(		self,
			velocityUnits = VelocityUnits.PCT
	)

Gets the average current velocity of all motors.

Returns

a float that represents the average current velocity

Parameters

velocityUnits

The measurement unit for the velocity.

current()

def drivetrain.Drivetrain.current	(		self,
			currentUnits = CurrentUnits.AMP
	)

Gets the electrical current of all motors.

Parameters

currentUnits

Returns

a float that represents the electrical current of the motor in Amps.

power()

def drivetrain.Drivetrain.power	(		self,
			powerUnits = PowerUnits.WATT
	)

Gets the total power of all motors in the drivetrain.

Parameters

powerUnits

Returns

a float that represents the power in given units

torque()

def drivetrain.Drivetrain.torque	(		self,
			torqueUnits = TorqueUnits.NM
	)

Gets the total torque of all motors in the drivetrain.

Parameters

torqueUnits

Returns

a float that represents the torque in given units

efficiency()

def drivetrain.Drivetrain.efficiency	(		self,
			percentUnits = PercentUnits.PCT
	)

Gets the average efficiency of the drivetrain.

Parameters

percentUnits

Returns

efficiency of the motor in percent

temperature()

def drivetrain.Drivetrain.temperature	(		self,
			percentUnits = PercentUnits.PCT
	)

Gets the average temperature of the drivetrain.

Parameters

percentUnits

Returns

temperature of the drivetrain in percent