4-Motor Drivetrain - Robot Config - VEXcode Text

When starting to program with VEXcode V5 Text, 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 without 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

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.

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Select “Add a device.”

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Select “Drivetrain 4-Motor.”

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

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Note: The Gyro Sensor is connected to a 3-Wire port not a Smart Port.

 

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.

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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

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.

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

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Changing a Drivetrain’s Wheel Size

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

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Changing a Drivetrain’s Gear Ratio

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

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Reversing a Drivetrain

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

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Deleting a Drivetrain

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

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Changing a Gear Cartridge

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

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