A question about drivertrain::turn

VEX V5 General Discussion Technical Discussion
#1

Does drivertrain::turn turn 90 degrees?Or turn until drivertrain:: stop is executed?
I want to turn in a specified direction forever until drivertrain:: stop is executed.What should I do?

#2

If I rember correctly it should turn in the specified direction until told to stop.

#3

DriveTrain::turn should turn until given a way to stop. An example would be how I used to program Autons.

EX.

Drivetrain.setVelocity(100, pct);
waitUntil(inertial.heading(90, deg);
Drivetrain.turn

this is if your drivetrain was using an inertial sensor to stop the turn for example.

1 Like
#4

Correct me if I’m wrong, but if you said turn 90 degrees wouldn’t it turn 90 degrees each time you press the joystick.

#5

According to the drivetrain manual pages there are several flavors of the function:

void vex::drivetrain::turn(turnType dir)
void vex::drivetrain::turn(turnType dir, double velocity, velocityUnits units)

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

While the turn functions will start rotation in certain direction and will stop only when later commanded, the turnFor functions take angle argument and if waitForCompletion=true will return only after rotation was completed. You should also call setTimeout() to make sure it doesn’t hang there if it couldn’t reach the angle.