How to use the Drivetrain to the "X-Drive" with the gyro

[kevinxu]

I have make the X-Drive robot , and I want to know how to used the Drivetrain with gyro in the VEXcode pro V5 .

[holbrook]

The built-in drivetrain and smartdrive classes in VEXcode Pro V5 do not support x-drives.

You can write your own code to control the x-drive, more on how that works in this thread:

X-Drive RobotC Programming Help

Hello. As part of this year’s robot we have made an 4 motor x drive. The back two motors also have IME’ s on them. My question is: can anyone show me how to properly program an x drive with some resources or sample coding? Also: can someone help with autonomous programming using the imes on this drive? I’ve wanted to look into PID. Is that even possible with this kind of drive? Thank you for the help!

(Code examples there are in ROBOTC but should give a decent idea of how things work. Or just search the forum for “x drive programming”)

Or, if you want to use PROS, there’s an XDriveModel class in OkapiLib.