Inertial Sensor and Premade Drivetrain

[weilin]

Yes, the concept is correct in general.

However you cannot mix and match controlling motors individually and with drivetrain class.

See this topic for explanation of the differences between drivetrain and smartdrive classes:

VEXcode, motor groups and drivetrain example

There have been quite a few requests for instructions on how to use motor groups and creating a drivetrain with more than 2 motors in VEXcode. I’m going to discuss these classes a little and provide a simple example. What is a motor group ? A motor group collects two or more motors together and allows control as if they were a single entity. Just about all motor class member functions (by that I mean spin, spinTo, setVelocity etc.) are available on the motor group class. We introduced motor…

Also, here is the API fir the smartdrive class:

Home | VEX V5 - API Reference — VEXcode Documentation

Finally, if you choose not to use smartdrive with its built-in PID, here is a PID tutorial:

VEXCode PID Tutorial

I will be allocating this thread to answering any questions in regards to the tutorial [C++ VEXCode V5 Text Tutorials - Autonomous PID and Multitasking] Fair Warning: I am unsure if I have the positive and negative motor values correct, as this is all done on the top of my head. So If the robot is continuing to go even after the lateral position is reached, change error = averagePosition - desiredValue; to error = desiredValue - averagePosition; If the robot continues to go even a…