Inherits vex::drivetrain.

Public Member Functions
	smartdrive (motor_group &l, motor_group &r, vex::gyro &g, double wheelTravel=319.1764, double trackWidth=292.1, double wheelBase=130, distanceUnits unit=distanceUnits::mm, double externalGearRatio=1.0)

	smartdrive (vex::motor &l, vex::motor &r, vex::gyro &g, double wheelTravel=319.1764, double trackWidth=292.1, double wheelBase=130, distanceUnits unit=distanceUnits::mm, double externalGearRatio=1.0)

	smartdrive (motor_group &l, motor_group &r, vex::inertial &g, double wheelTravel=319.1764, double trackWidth=292.1, double wheelBase=130, distanceUnits unit=distanceUnits::mm, double externalGearRatio=1.0)

	smartdrive (vex::motor &l, vex::motor &r, vex::inertial &g, double wheelTravel=319.1764, double trackWidth=292.1, double wheelBase=130, distanceUnits unit=distanceUnits::mm, double externalGearRatio=1.0)

	~smartdrive ()

void	setTurnThreshold (double t)

bool	turnToHeading (double angle, rotationUnits units, bool waitForCompletion=true)
	Turn on the motors and rotate to a heading at the default velocity. More...

void	startTurnToHeading (double angle, rotationUnits units)
	Start turning to a given heading without blocking the user program. More...

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. More...

void	startTurnToHeading (double angle, rotationUnits units, double velocity, velocityUnits units_v)
	Start turning to a given heading without blocking the user program. More...

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

void	startTurnToRotation (double angle, rotationUnits units)
	Start turning to a given rotation without blocking the user program. More...

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. More...

void	startTurnToRotation (double angle, rotationUnits units, double velocity, velocityUnits units_v)
	Start turning to a given rotation without blocking the user program. 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, 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, double velocity, velocityUnits units_v, bool waitForCompletion=true)
	Turn on the motors and rotate an angle at a specified 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 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...

double	heading (rotationUnits units=rotationUnits::deg)
	Gets the heading (angle) of the gyro/inertial sensor. More...

void	setHeading (double value, rotationUnits units)
	set the gyro/inertial sensor heading to angle More...

double	rotation (rotationUnits units=rotationUnits::deg)
	Gets the rotation (absolute angle) of the gyro/inertial sensor. More...

void	setRotation (double value, rotationUnits units)
	set the gyro/inertial sensor rotation to angle More...

bool	isTurning ()
	Checks to see if the turnToHeading, turnToRotation or turnFor function is still running. More...

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

Public Member Functions inherited from 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. 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...

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

Additional Inherited Members
Protected Attributes inherited from vex::drivetrain
double	_turnVelocity

velocityUnits	_turnVelUnit

Constructor & Destructor Documentation

◆ smartdrive() [1/4]

vex::smartdrive::smartdrive	(	motor_group &	l,
		motor_group &	r,
		vex::gyro &	g,
		double	wheelTravel = `319.1764`,
		double	trackWidth = `292.1`,
		double	wheelBase = `130`,
		distanceUnits	unit = `distanceUnits::mm`,
		double	externalGearRatio = `1.0`
	)

◆ smartdrive() [2/4]

vex::smartdrive::smartdrive	(	vex::motor &	l,
		vex::motor &	r,
		vex::gyro &	g,
		double	wheelTravel = `319.1764`,
		double	trackWidth = `292.1`,
		double	wheelBase = `130`,
		distanceUnits	unit = `distanceUnits::mm`,
		double	externalGearRatio = `1.0`
	)

◆ smartdrive() [3/4]

vex::smartdrive::smartdrive	(	motor_group &	l,
		motor_group &	r,
		vex::inertial &	g,
		double	wheelTravel = `319.1764`,
		double	trackWidth = `292.1`,
		double	wheelBase = `130`,
		distanceUnits	unit = `distanceUnits::mm`,
		double	externalGearRatio = `1.0`
	)

◆ smartdrive() [4/4]

vex::smartdrive::smartdrive	(	vex::motor &	l,
		vex::motor &	r,
		vex::inertial &	g,
		double	wheelTravel = `319.1764`,
		double	trackWidth = `292.1`,
		double	wheelBase = `130`,
		distanceUnits	unit = `distanceUnits::mm`,
		double	externalGearRatio = `1.0`
	)

◆ ~smartdrive()

vex::smartdrive::~smartdrive ( )

Member Function Documentation

◆ setTurnThreshold()

void vex::smartdrive::setTurnThreshold ( double t )

◆ 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.

◆ startTurnToHeading() [1/2]

void vex::smartdrive::startTurnToHeading	(	double	angle,
		rotationUnits	units
	)

inline

Start turning to a given heading without blocking the user program.

Parameters

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

◆ 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.

◆ startTurnToHeading() [2/2]

void vex::smartdrive::startTurnToHeading	(	double	angle,
		rotationUnits	units,
		double	velocity,
		velocityUnits	units_v
	)

inline

Start turning to a given heading without blocking the user program.

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.

◆ 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.

◆ startTurnToRotation() [1/2]

void vex::smartdrive::startTurnToRotation	(	double	angle,
		rotationUnits	units
	)

inline

Start turning to a given rotation without blocking the user program.

Parameters

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

◆ 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.

◆ startTurnToRotation() [2/2]

void vex::smartdrive::startTurnToRotation	(	double	angle,
		rotationUnits	units,
		double	velocity,
		velocityUnits	units_v
	)

inline

Start turning to a given rotation without blocking the user program.

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.

◆ turnFor() [1/4]

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() [2/4]

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() [3/4]

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.

◆ turnFor() [4/4]

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.

◆ startTurnFor() [1/4]

virtual void vex::smartdrive::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 from vex::drivetrain.

◆ startTurnFor() [2/4]

virtual void vex::smartdrive::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 from vex::drivetrain.

◆ startTurnFor() [3/4]

virtual void vex::smartdrive::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 from vex::drivetrain.

◆ startTurnFor() [4/4]

virtual void vex::smartdrive::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 from vex::drivetrain.

◆ heading()

double vex::smartdrive::heading ( rotationUnits units = rotationUnits::deg )

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

Parameters

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

◆ rotation()

double vex::smartdrive::rotation ( rotationUnits units = rotationUnits::deg )

Gets the rotation (absolute angle) of the gyro/inertial 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.

◆ setRotation()

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

set the gyro/inertial sensor rotation to angle

Parameters

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

◆ 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.

◆ 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.

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ smartdrive() [1/4]

◆ smartdrive() [2/4]

◆ smartdrive() [3/4]

◆ smartdrive() [4/4]

◆ ~smartdrive()

Member Function Documentation

◆ setTurnThreshold()

◆ turnToHeading() [1/2]

◆ startTurnToHeading() [1/2]

◆ turnToHeading() [2/2]

◆ startTurnToHeading() [2/2]

◆ turnToRotation() [1/2]

◆ startTurnToRotation() [1/2]

◆ turnToRotation() [2/2]

◆ startTurnToRotation() [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]

◆ heading()

◆ setHeading()

◆ rotation()

◆ setRotation()

◆ isTurning()

◆ isMoving()