How do I incorporate a gps here to make it drive straight

Programming Support VEXcode V5 Tech Support
1

def DriveForward(Inch, Vel):
pass
motor_1.set_velocity(Vel, PERCENT)
motor_2.set_velocity(Vel, PERCENT)
motor_3.set_velocity(Vel, PERCENT)
motor_4.set_velocity(Vel, PERCENT)
motor_5.set_velocity(Vel, PERCENT)
motor_6.set_velocity(Vel, PERCENT)
motor_1.spin_for(FORWARD, Inch75, DEGREES,wait=False)
motor_2.spin_for(FORWARD, Inch75, DEGREES,wait=False)
motor_3.spin_for(FORWARD, Inch75, DEGREES,wait=False)
motor_4.spin_for(FORWARD, Inch75, DEGREES,wait=False)
motor_5.spin_for(FORWARD, Inch75, DEGREES,wait=False)
motor_6.spin_for(FORWARD, Inch75, DEGREES)

def turn_left(degR,Vel):
pass
motor_1.set_velocity(Vel, PERCENT)
motor_2.set_velocity(Vel, PERCENT)
motor_3.set_velocity(Vel, PERCENT)
motor_4.set_velocity(Vel, PERCENT)
motor_5.set_velocity(Vel, PERCENT)
motor_6.set_velocity(Vel, PERCENT)
motor_1.spin_for(FORWARD, degR7.5,DEGREES,wait=False)
motor_2.spin_for(FORWARD, degR7.5,DEGREES,wait=False)
motor_3.spin_for(FORWARD, degR7.5,DEGREES,wait=False)
motor_4.spin_for(REVERSE, degR7.5,DEGREES,wait=False)
motor_5.spin_for(REVERSE, degR7.5,DEGREES,wait=False)
motor_6.spin_for(REVERSE, degR7.5,DEGREES)

def turn_right(degL,VelL):
pass
motor_1.set_velocity(VelL, PERCENT)
motor_2.set_velocity(VelL, PERCENT)
motor_3.set_velocity(VelL, PERCENT)
motor_4.set_velocity(VelL, PERCENT)
motor_5.set_velocity(VelL, PERCENT)
motor_6.set_velocity(VelL, PERCENT)
motor_1.spin_for(REVERSE, degL7.5,DEGREES,wait=False)
motor_2.spin_for(REVERSE, degL7.5,DEGREES,wait=False)
motor_3.spin_for(REVERSE, degL7.5,DEGREES,wait=False)
motor_4.spin_for(FORWARD, degL7.5,DEGREES,wait=False)
motor_5.spin_for(FORWARD, degL7.5,DEGREES,wait=False)
motor_6.spin_for(FORWARD, degL7.5,DEGREES)

brain.screen.pressed
DriveForward(85,50)
turn_left(90,50)
DriveForward(85,50)
turn_left(90,50)
DriveForward(85,50)
turn_left(90,50)
DriveForward(85,50)
turn_left(90,50)

2

Next time, it would be great if you could embed your code in a code fence so we can read it easier, like this:

```
print("Hello, world!")
```

With that out of the way, it appears that your code looks okay. I would suggest using the VEXCode Python built-in Drivetrain to handle driving, but I believe that the code that you have should be sufficient for now. It sounds like your robot has a friction problem in one side of your physical drivetrain. This is a hardware problem; I would recommend fixing hardware problems in hardware before moving on to software fixes. This means finding where there is rubbing or an overtightened screw in your drivetrain and fixing the problem so your robot moves smoothly.

If you would like a software fix, you might be interested in looking into using a gyroscope (such as the one built into the V5 Inertial Sensor) to course correct.