vex::smartdrive Class Reference

Inheritance diagram for vex::smartdrive:

Public Member Functions
	smartdrive (motor_group &l, motor_group &r, vex::gyro &g, double wheelTravel=200, double trackWidth=200, double wheelBase=50, distanceUnits unit=distanceUnits::mm, double externalGearRatio=1.0)
	smartdrive (vex::motor &l, vex::motor &r, vex::gyro &g, double wheelTravel=200, double trackWidth=200, double wheelBase=50, distanceUnits unit=distanceUnits::mm, double externalGearRatio=1.0)
void	setTurnThreshold (double t)
void	setTurnConstant (double kp)
smartdrive &	setTurnDirectionReverse (bool value)
bool	turnToHeading (double angle, rotationUnits units, bool waitForCompletion=true)
	Turn on the motors and rotate to a heading at the default velocity.
bool	turnToHeading (double angle, rotationUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true)
	Turn on the motors and rotate to a heading at a specified velocity.
bool	turnToRotation (double angle, rotationUnits units, bool waitForCompletion=true)
	Turn on the motors and rotate to an angle at the default velocity.
bool	turnToRotation (double angle, rotationUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true)
	Turn on the motors and rotate to an angle at a specified velocity.
virtual bool	turnFor (turnType dir, double angle, rotationUnits units, bool waitForCompletion=true)
	Turn on the motors and rotate an angle at the default 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, double velocity, velocityUnits units_v, bool waitForCompletion=true)
	Turn on the motors and rotate an angle at a specified velocity.
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.
void	setHeading (double value, rotationUnits units)
	set the gyro sensor heading to angle
double	heading (rotationUnits units=rotationUnits::deg)
	Gets the heading (angle) of the gyro sensor.
double	rotation (rotationUnits units=rotationUnits::deg)
	Gets the rotation (absolute angle) of the gyro sensor.
void	setRotation (double value, rotationUnits units)
	set the gyro sensor rotation to angle
bool	isTurning ()
	Checks to see if the turnToHeading, turnToRotation or turnFor function is still running.
virtual bool	isMoving ()
	Checks to see if any of the motors are rotating to a specific target.
Public Member Functions inherited from vex::drivetrain
	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.
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;.

Additional Inherited Members
Protected Member Functions inherited from vex::drivetrain
double	distanceToMm (double distance, distanceUnits units)
double	angleToDeg (double angle, rotationUnits units)
int32_t	timeoutGet ()
Protected Attributes inherited from vex::drivetrain
double	_turnvelocity
velocityUnits	_turnvelocityUnits
uint8_t	_turnmode

Detailed Description

Definition at line 24 of file vex_smartdrive.h.

Member Function Documentation

heading()

double vex::smartdrive::heading

(

rotationUnits

units = rotationUnits::deg

)

Gets the heading (angle) of the gyro sensor.

Returns

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

Parameters

units

The measurement unit for the gyro device.

isMoving()

virtual bool vex::smartdrive::isMoving ( )

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 from vex::drivetrain.

isTurning()

bool vex::smartdrive::isTurning

(

)

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

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.

rotation()

double vex::smartdrive::rotation

(

rotationUnits

units = rotationUnits::deg

)

Gets the rotation (absolute angle) of the gyro sensor.

Returns

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

Parameters

units

The measurement unit for the gyro device.

setHeading()

void vex::smartdrive::setHeading	(	double	value,
		rotationUnits	units )

set the gyro sensor heading to angle

Parameters

value	The new heading for the gyro
units	The rotation unit for the angle

setRotation()

void vex::smartdrive::setRotation	(	double	value,
		rotationUnits	units )

set the gyro sensor rotation to angle

Parameters

value	The new absolute angle for the gyro
units	The rotation unit for the angle

turnFor() [1/4]

virtual bool vex::smartdrive::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 from vex::drivetrain.

turnFor() [2/4]

virtual bool vex::smartdrive::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 from vex::drivetrain.

turnFor() [3/4]

virtual bool vex::smartdrive::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	Sets the direction to turn.
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 from vex::drivetrain.

turnFor() [4/4]

virtual bool vex::smartdrive::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	Sets the direction to turn.
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 from vex::drivetrain.

turnToHeading() [1/2]

bool vex::smartdrive::turnToHeading	(	double	angle,
		rotationUnits	units,
		bool	waitForCompletion = true )

Turn on the motors and rotate to a heading 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.

turnToHeading() [2/2]

bool vex::smartdrive::turnToHeading	(	double	angle,
		rotationUnits	units,
		double	velocity,
		velocityUnits	units_v,
		bool	waitForCompletion = true )

Turn on the motors and rotate to a heading 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.

turnToRotation() [1/2]

bool vex::smartdrive::turnToRotation	(	double	angle,
		rotationUnits	units,
		bool	waitForCompletion = true )

Turn on the motors and rotate to 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.

turnToRotation() [2/2]

bool vex::smartdrive::turnToRotation	(	double	angle,
		rotationUnits	units,
		double	velocity,
		velocityUnits	units_v,
		bool	waitForCompletion = true )

Turn on the motors and rotate to 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.

---

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

• vex_smartdrive.h