Creates a new smartdrive object. More...

Inherits drivetrain.Drivetrain.

Public Member Functions
def	__init__ (self, left_motor, right_motor, gyro, wheel_travel=319.1764, track_width=292.1, distanceUnits=DistanceUnits.MM, gear_ratio=1.0)

def	set_turn_threshold (self, t)

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	set_heading (self, angle, rotationUnits=RotationUnits.DEG)
	Set the gyro/inertial sensor heading to angle. More...

def	heading (self, rotationUnits=RotationUnits.DEG)
	Gets the heading (angle) of the gyro/inertial sensor. More...

def	set_rotation (self, angle, rotationUnits=RotationUnits.DEG)
	Set the gyro/inertial sensor rotation to angle. More...

def	rotation (self, rotationUnits=RotationUnits.DEG)
	Gets the heading (angle) of the gyro/inertial sensor. More...

def	is_turning (self)
	Checks to see if the turnToHeading, turnToRotation or turnFor function is still running. 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	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	start_drive_for (self, directionType, distance, distanceUnits=DistanceUnits.MM, velocity=None, velocityUnits=VelocityUnits.PCT)
	Start driving for a specified distance. More...

def	arcade (self, drivePower, turnPower, percentUnit=PercentUnits.PCT)
	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	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 smartdrive 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
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

Constructor & Destructor Documentation

◆ init()

def smartdrive.Smartdrive.__init__	(	self,
		left_motor,
		right_motor,
		gyro,
		wheel_travel = `319.1764`,
		track_width = `292.1`,
		distanceUnits = `DistanceUnits.MM`,
		gear_ratio = `1.0`
	)

Member Function Documentation

◆ set_turn_threshold()

def smartdrive.Smartdrive.set_turn_threshold	(	self,
		t
	)

◆ turn_to_heading()

def smartdrive.Smartdrive.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.

Returns: True if the motor has reached the target rotation value.

Parameters

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.

◆ turn_to_rotation()

def smartdrive.Smartdrive.turn_to_rotation	(	self,
		angle,
		angleUnits = `RotationUnits.DEG`,
		velocity = `None`,
		velocityUnits = `VelocityUnits.PCT`,
		waitForCompletion = `True`
	)

◆ turn_for()

def smartdrive.Smartdrive.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 from drivetrain.Drivetrain.

◆ start_turn_to_heading()

def smartdrive.Smartdrive.start_turn_to_heading	(	self,
		angle,
		angleUnits = `RotationUnits.DEG`,
		velocity = `None`,
		velocityUnits = `VelocityUnits.PCT`
	)

◆ start_turn_to_rotation()

def smartdrive.Smartdrive.start_turn_to_rotation	(	self,
		angle,
		angleUnits = `RotationUnits.DEG`,
		velocity = `None`,
		velocityUnits = `VelocityUnits.PCT`
	)

◆ start_turn_for()

def smartdrive.Smartdrive.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 from drivetrain.Drivetrain.

◆ set_heading()

def smartdrive.Smartdrive.set_heading	(	self,
		angle,
		rotationUnits = `RotationUnits.DEG`
	)

Set the gyro/inertial sensor heading to angle.

Parameters

angle	The new heading for the gyro
rotationUnits	The rotation unit for the angle

◆ heading()

def smartdrive.Smartdrive.heading	(	self,
		rotationUnits = `RotationUnits.DEG`
	)

Gets the heading (angle) of the gyro/inertial sensor.

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

Parameters

rotationUnits The measurement unit for the gyro device.

◆ set_rotation()

def smartdrive.Smartdrive.set_rotation	(	self,
		angle,
		rotationUnits = `RotationUnits.DEG`
	)

Set the gyro/inertial sensor rotation to angle.

Parameters

angle	The new rotation for the gyro
rotationUnits	The rotation unit for the angle

◆ rotation()

def smartdrive.Smartdrive.rotation	(	self,
		rotationUnits = `RotationUnits.DEG`
	)

Gets the heading (angle) of the gyro/inertial sensor.

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

Parameters

rotationUnits The measurement unit for the gyro device.

◆ is_turning()

def smartdrive.Smartdrive.is_turning ( self )

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

Returns: True if the motor is on and is rotating to a target, False otherwise

◆ is_moving()

def smartdrive.Smartdrive.is_moving ( self )

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

Reimplemented from drivetrain.Drivetrain.

◆ is_done()

def smartdrive.Smartdrive.is_done ( self )

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

Reimplemented from drivetrain.Drivetrain.

◆ set_gear_ratio()

def drivetrain.Drivetrain.set_gear_ratio	(	self,
		gear_ratio
	)

inherited

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`
	)

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.

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`
	)

inherited

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`
	)

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.

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`
	)

inherited

Returns a timeout in given time units.

◆ did_timeout()

def drivetrain.Drivetrain.did_timeout ( self )

inherited

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

◆ set_stopping()

def drivetrain.Drivetrain.set_stopping	(	self,
		brakeType
	)

inherited

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`
	)

inherited

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`
	)

inherited

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`
	)

inherited

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

◆ start_drive_for()

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

inherited

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

◆ arcade()

def drivetrain.Drivetrain.arcade	(	self,
		drivePower,
		turnPower,
		percentUnit = `PercentUnits.PCT`
	)

inherited

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

◆ stop()

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

inherited

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`
	)

inherited

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`
	)

inherited

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`
	)

inherited

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`
	)

inherited

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`
	)

inherited

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`
	)

inherited

Gets the average temperature of the drivetrain.

Parameters

percentUnits

Returns: temperature of the drivetrain in percent

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ set_turn_threshold()

◆ turn_to_heading()

◆ turn_to_rotation()

◆ turn_for()

◆ start_turn_to_heading()

◆ start_turn_to_rotation()

◆ start_turn_for()

◆ set_heading()

◆ heading()

◆ set_rotation()

◆ rotation()

◆ is_turning()

◆ is_moving()

◆ is_done()

◆ set_gear_ratio()

◆ set_drive_velocity()

◆ set_turn_velocity()

◆ set_timeout()

◆ timeout()

◆ did_timeout()

◆ set_stopping()

◆ drive()

◆ drive_for()

◆ turn()

◆ start_drive_for()

◆ arcade()

◆ stop()

◆ velocity()

◆ current()

◆ power()

◆ torque()

◆ efficiency()

◆ temperature()

◆ init()