Inheritance diagram for vex::drivetrain:

Public Member Functions
	drivetrain (motor_group &l, motor_group &r, double wheelTravel=200, double trackWidth=200, double wheelBase=50, distanceUnits unit=distanceUnits::mm, double externalGearRatio=1.0)

	drivetrain (vex::motor &l, vex::motor &r, double wheelTravel=200, double trackWidth=200, double wheelBase=50, distanceUnits unit=distanceUnits::mm, double externalGearRatio=1.0)

void	setGearRatio (double ratio)

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 motor. Any subsequent call that does not contain a specified motor velocity will use this value.

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.

void	setTurnVelocity (double velocity, percentUnits units)

void	setTimeout (int32_t 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.

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

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

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

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

bool	driveFor (directionType dir, double distance, distanceUnits units, bool waitForCompletion=true)

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.

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

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

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

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

virtual bool	turnFor (turnType dir, double angle, rotationUnits units, bool waitForCompletion=true)

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.

virtual bool	turnFor (turnType dir, double angle, rotationUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true)

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

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

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

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

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

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

double	velocity (percentUnits units)

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

double	current (percentUnits units)
	Gets the electrical current of the drivetrain as percentage of maximum.

double	voltage (voltageUnits units=voltageUnits::volt)
	Gets the average voltage of the drivetrain;.

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

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

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

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

Protected Member Functions
double	distanceToMm (double distance, distanceUnits units)

double	angleToDeg (double angle, rotationUnits units)

int32_t	timeoutGet ()

Protected Attributes
double	_turnvelocity

velocityUnits	_turnvelocityUnits

uint8_t	_turnmode

Detailed Description

Definition at line 26 of file vex_drivetrain.h.

Member Function Documentation

◆ current() [1/2]

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.

◆ current() [2/2]

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

Gets the electrical current of the drivetrain as percentage of maximum.

Returns: Returns a double that represents the electrical current of the drivetrain as percentage of max current.

Parameters

units The measurement unit for the current.

◆ 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() [1/2]

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() [2/2]

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.

◆ 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.

◆ 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.

◆ 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.

◆ 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.

◆ setDriveVelocity()

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 motor. 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.

◆ 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.

◆ setTimeout()

void vex::drivetrain::setTimeout	(	int32_t	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.

Parameters

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

◆ setTurnVelocity()

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.

◆ stop()

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.

◆ 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.

◆ 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.

◆ 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	(	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() [3/4]

virtual bool vex::drivetrain::turnFor	(	turnType	dir,
		double	angle,
		rotationUnits	units,
		bool	waitForCompletion = true )

virtual

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

Reimplemented in vex::smartdrive.

◆ velocity() [1/2]

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

inline

Definition at line 188 of file vex_drivetrain.h.

◆ velocity() [2/2]

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.

◆ voltage()

double vex::drivetrain::voltage ( voltageUnits units = voltageUnits::volt )

Gets the average voltage of the drivetrain;.

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

Parameters

units The measurement unit for the voltage.

Member Data Documentation

◆ _turnmode

uint8_t vex::drivetrain::_turnmode

protected

Definition at line 252 of file vex_drivetrain.h.

◆ _turnvelocity

double vex::drivetrain::_turnvelocity

protected

Definition at line 250 of file vex_drivetrain.h.

◆ _turnvelocityUnits

velocityUnits vex::drivetrain::_turnvelocityUnits

protected

Definition at line 251 of file vex_drivetrain.h.

The documentation for this class was generated from the following file:

vex_drivetrain.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ current() [1/2]

◆ current() [2/2]

◆ drive() [1/2]

◆ drive() [2/2]

◆ driveFor() [1/2]

◆ driveFor() [2/2]

◆ efficiency()

◆ isDone()

◆ isMoving()

◆ power()

◆ setDriveVelocity()

◆ setStopping()

◆ setTimeout()

◆ setTurnVelocity()

◆ stop()

◆ temperature()

◆ torque()

◆ turn() [1/2]

◆ turn() [2/2]

◆ turnFor() [1/4]

◆ turnFor() [2/4]

◆ turnFor() [3/4]

◆ turnFor() [4/4]

◆ velocity() [1/2]

◆ velocity() [2/2]

◆ voltage()

Member Data Documentation

◆ _turnmode

◆ _turnvelocity

◆ _turnvelocityUnits