Configuring a 4-Motor Drivetrain in VEXcode IQ (2nd gen)

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

Select the generation that you are working with.

Select “Add a device.”

Select 'Drivetrain 4-Motor.'

Note: To configure a 2-Motor Drivetrain, see this article.

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

The IQ (2nd gen) Brain has a built in gyro that is referred to as the "Brain Inertial" to distinguish it from the external Gyro that is added when configuring for an IQ (1st gen) Brain. To configure this gyro, select 'Brain Inertial'. 

Note: the 'Brain Inertial' gyro built into the (2nd gen) Brain turns clockwise- while the (1st gen) gyro turns counter-clockwise. 

You will notice that the Brain Inertial icon appears in the upper right corner of the Devices window. Once the Drivetrain has been configured, select “Done” to submit the device to the configuration or “Cancel” to return back to the Devices menu. 

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

You can change the port numbers for the Left Motors and Right Motors in the Drivetrain by selecting a plug icon in the top right corner of the Options screen.

Select a different port on the Port Selection screen and the port number will turn green.

Then, select Done to submit the change.

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

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

The Options screen also allows the direction of the Drivetrain to be reversed.

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