When beginning a new project in VEXcode V5, commands to control the Drivetrain of your robot will not appear in the Toolbox until a Drivetrain has been configured.
You can only configure one Drivetrain per project.
If you are configuring a Drivetrain without a Gyro Sensor, view this article.
Adding a Drivetrain
To configure a Drivetrain, select the Devices button to open the Devices window.
Select Add a device.
Select Drivetrain 2-Motor.
Select which port the Left Motor is connected to on the V5 Brain.
Select which port the Right Motor is connected to on the V5 Brain.
Note that ports that are already configured for other devices will be unavailable.
Select device option
Inertial Sensor
To use the Inertial Sensor, select Inertial Sensor.
Select the port the Inertial Sensor is connected to on the V5 Brain.
Note that ports that are already configured for other devices will be unavailable.
Be sure that the Wheel Size, Gear Ratio, and Gear Cartridge match your robot.
Select Done to save the configuration.
GPS Sensor
To use the GPS Sensor, select GPS Sensor.
Select the port the GPS Sensor is connected to on the V5 Brain.
Note that ports that are already configured for other devices will be unavailable.
You can set X, Y, and Angle Offsets to match the position of the GPS Sensor on your robot.
To learn more about offsets, and configuring the GPS Sensor, view this article.
Be sure that the Wheel Size, Gear Ratio, and Gear Cartridge match your robot.
Select Done to save the configuration.
3-Wire Gyro
To use the 3-Wire Gyro, select 3-Wire Gyro.
Select the 3-Wire port that the Gyro is connected to on the V5 Brain.
Note that the 3-Wire Gyro uses a 3-Wire port, not a Smart Port.
Be sure that the Wheel Size, Gear Ratio, and Gear Cartridge match your robot.
Select Done to save the configuration.
Changing a Drivetrain’s Port Numbers
You can change the port number for the Left Motor, Right Motor or Gyro in the Drivetrain by selecting the device’s plug icon in the top right corner.
Select a different port on the Port Selection screen and the port number will turn green. Then select Done to save the updated configuration.
Changing a Drivetrain’s Wheel Size
You can change the wheel size for the Drivetrain by selecting the dropdown menu under Wheel Size. Choose your desired wheel size, then select Done to save the updated configuration.
Note: The default values are for the V5 Clawbot and Speedbot. If you are using the Clawbot or Speedbot, you do not need to change the values.
Changing a Drivetrain’s Gear Ratio
You can change the gear ratio for the Drivetrain by entering values in the Input and Output boxes. Then select Done to save the updated configuration.
Note: The default values are for the VEX V5 Clawbot and Speedbot. If you are using the Clawbot or Speedbot, you do not need to change the values.
Changing a Gear Cartridge
The settings also allow the gear cartridge to be changed.
Select the cartridge that matches your robot. Then select Done to save the updated configuration.
Reversing a Drivetrain
The settings also allow the direction of the Drivetrain to be reversed.
Select the arrows around the robot icon to change the direction of the Drivetrain. Then select Done to save the updated configuration.
Deleting a Drivetrain
A Drivetrain can be deleted by selecting Delete.