Configuring a 4-Motor Drivetrain (No Gyro) in VEXcode V5 – VEX Library

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 with a Gyro Sensor, view this article.

Adding a Drivetrain

VEXcode V5 Toolbar with the Devices icon highlighted in between the Code Viewer and the Print Console icons.

To configure a Drivetrain, select the Devices button to open the Devices window.

VEXcode V5 Devices menu with the Add a device button shown.

Select Add a device.

VEXcode V5 Devices menu after the Add a device button has been selected. The Drivetrain 4 motor option is highlighted.

Select Drivetrain 4-Motor.

VEXcode V5 Devices menu showing the Smart Port options for the two Left Motors. In this example, the Smart Ports numbered 1 and 4 are highlighted.

Select which ports the Left Motors are connected to on the V5 Brain.

VEXcode V5 Devices menu showing the Smart Port options for the two Right Motors. In this example, the Smart Ports numbered 10 and 14 are highlighted.

Select which ports the Right Motors are connected to on the V5 Brain.

Note that ports that are already configured for other devices will be unavailable.

VEXcode V5 Devices menu showing the additional device options for the Drivetrain that read Inertial Sensor, GPS Sensor, 3-Wire Gyro, and No Gyro. The No Gyro option is highlighted.

Select No Gyro to turn the Gyro off.

VEXcode V5 Devices menu after selecting the Drivetrain Ports and with the Drivetrain Settings screen shown. Below, the Done button is highlighted.

Be sure that the Wheel Size, Track Width, Wheelbase, Gear Ratio, and Gear Cartridge match your robot. Select Done to save the 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 Port Numbers

VEXcode V5 Devices window with the Drivetrain Settings menu shown. Above, the icons for the Left Motor and Right Motor Ports are highlighted.

You can change the port numbers for the Left Motors or Right Motors 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

VEXcode V5 Devices window with the Drivetrain Settings menu shown. The Wheel Size dropdown menu is highlighted and opened, with options reading 200mm, 2.75 inches, 3.25 inches, 4 inches, 5 inches, and 6 inches. Notes next to the unit indicate that the mm option is measuring the wheel's circumference, while the inch options are measuring the wheel's diameter.

You can change the wheel size for the Drivetrain by selecting the drop down menu under Wheel Size. Choose your desired wheel size, 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 Drivetrain’s Track Width

VEXcode V5 Devices window with the Drivetrain Settings menu shown. The Track Width options are highlighted, and the unit dropdown menu is opened to choose between inches and mm.

You can change the size of the track width for the Drivetrain by entering the values in the number box, and by selecting the drop down menu under Track Width. The track width is the measurement between the middle of the front left wheel to middle of the front right wheel.

Once the Track Width is set, 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 Drivetrain’s Wheelbase

VEXcode V5 Devices window with the Drivetrain Settings menu shown. The Wheelbase options are highlighted, and the unit dropdown menu is opened to choose between inches and mm.

You can change the size of the Wheelbase for the Drivetrain by entering the values in the number box and by selecting the drop down menu under Wheelbase. The Wheelbase is the measurement between the front and rear axles.

Once the Wheelbase is set, select Done to save the updated configuration.

Changing a Drivetrain’s Gear Ratio

VEXcode V5 Devices window with the Drivetrain Settings menu shown. The Gear Ratio options are highlighted. There is an input field and an output field, and a symbol indicating that the numbers represent a 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

VEXcode V5 Devices window with the Drivetrain Settings menu shown. The Gear Cartridge options are highlighted, with options that read 36:1 100 rpm, 18:1 200 rpm, and 6:1 600 rpm.

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

VEXcode V5 Devices window with the Drivetrain Settings menu shown. The directional arrows have been highlighted to indicate that the Drivetrain's direction can be changed.

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

VEXcode V5 Devices window with the Drivetrain Settings menu shown. Below, the Delete button is highlighted.

A Drivetrain can be deleted by selecting Delete.