Configuring a 4-Motor Drivetrain (No Gyro) in VEXcode Pro V5

When starting to program with VEXcode Pro V5, Drive and Turn commands will not appear in the Command Reference until a Drivetrain has been configured.

You can only configure one Drivetrain per project.

If you are configuring a Drivetrain with a Gyro Sensor, click here. 

Here are the different options when configuring a Drivetrain without a Gyro:

  • Adding a Drivetrain
  • Changing a Drivetrain’s Port Numbers
  • Changing a Drivetrain’s Wheel Size
  • Changing a Drivetrain’s Track Width
  • Changing a Drivetrain’s Wheelbase
  • Changing a Drivetrain’s Gear Ratio
  • Reversing a Drivetrain
  • Deleting a Drivetrain
  • Changing a Gear Cartridge 

In this article, the default values in the Drivetrain Settings are for the VEX V5 Clawbot.


Adding a Drivetrain

robot-config-window.png

To configure a Drivetrain, select the Robot Configuration button to open the Robot Configuration window. A project must be open in order to use the Robot Configuration window.

robot-config-add-device.png

Select “Add a device.”

robot-config-drivetrain-4motor.png

Select “Drivetrain 4-Motor.”

robot-config-select-ports.png

Select which ports the Left Motors and Right Motors are attached to on the VEX V5 Brain. Ports that are already configured for other devices will be unavailable.

robot-config-device-option.png

Select "No Gyro" to turn the Gyro off.

robot-config-drivetrain-settings.png

Once the Drivetrain has been configured, select “Done” to submit the device to the configuration or “Cancel” to return back to the Robot Configuration window.

Note: Selecting “Cancel” will undo any changes you have made to the device and will not be a part of the configuration.


Changing a Drivetrain’s Port Numbers

robot-config-drivetrain-settings-port-nums.png

You can change the port number for the Left Motors or Right Motors in the Drivetrain by selecting the device’s plug icon in the top right corner of the Drivetrain Settings window.

robot-config-drivetrain-settings-port-nums-diff.png

Select a different port on the Port Selection window and the port number will turn blue. Then select "Done" to submit the change.


Changing a Drivetrain’s Wheel Size

robot-config-drivetrain-wheel-size.png

You can change the wheel size for the Drivetrain by selecting the drop down menu under “Wheel Size.”


Changing a Drivetrain’s Track Width

robot-config-track-width.png

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 the middle of the front right wheel.


Changing a Drivetrain’s Wheelbase

robot-config-drivetrain-wheelbase.png

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.


Changing a Drivetrain’s Gear Ratio

robot-config-drivetrain-gear-ratio.png

You can change the gear ratio for the Drivetrain by entering values in the “Input” and “Output” boxes.


Reversing a Drivetrain

robot-config-drivetrain-reverse.png

The Drivetrain Settings window also allows the direction of the Drivetrain to be reversed.


Deleting a Drivetrain

robot-config-drivetrain-delete.png

A Drivetrain can also be deleted by selecting the “Delete” option at the bottom of the window.


Changing a Gear Cartridge

robot-config-drivetrain-gear-cartridge.png

The Drivetrain Settings window also allows the gear cartridge to be changed.