0 / 5 页已完成

直走和转弯Driving Straight and Turning

2.1 双轮差速原理2.1 Differential Drive Basics

VEX 机器人最常见的底盘是左右各一组电机驱动。机器人怎么转弯？答案很简单：左右轮速度不一样就会转弯。The most common VEX robot drivetrain has a set of motors on each side. How does the robot turn? Simple: when the left and right wheels spin at different speeds, the robot turns.

这就像划船——左边划快、右边划慢，船就往右转。It's like rowing a boat — paddle faster on the left and slower on the right, and the boat turns right.

差速原理（一句话版）Differential Drive (In One Sentence)

左右轮同速 = 直走，不同速 = 转弯，反向 = 原地转。Left and right wheels at same speed = go straight, different speeds = turn, opposite directions = spin in place.

2.2 直走2.2 Driving Straight

让左右电机以相同速度朝同一方向转：Make the left and right motors spin in the same direction at the same speed:

C++ (VEXcode) 
motor LeftMotor = motor(PORT1, ratio18_1, false);
motor RightMotor = motor(PORT2, ratio18_1, true);

// 直走：左右同速
LeftMotor.spin(forward, 50, percent);
RightMotor.spin(forward, 50, percent);
wait(2000, msec);
LeftMotor.stop();
RightMotor.stop();
C++ (VS Code) 
motor LeftMotor = motor(PORT1, ratio18_1, false);
motor RightMotor = motor(PORT2, ratio18_1, true);

// 直走：左右同速
LeftMotor.spin(forward, 50, percent);
RightMotor.spin(forward, 50, percent);
wait(2000, msec);
LeftMotor.stop();
RightMotor.stop();
C++ (PROS) 
pros::Motor left_motor(1, pros::MotorGearset::green);
pros::Motor right_motor(2, pros::MotorGearset::green, true);

// 直走：左右同速
left_motor.move(50);
right_motor.move(50);
pros::delay(2000);
left_motor.brake();
right_motor.brake();

2.3 原地转弯2.3 Turning in Place

让左右电机反向转，机器人就会原地旋转：Make the left and right motors spin in opposite directions, and the robot will spin in place:

C++ (VEXcode) 
// 原地右转：左轮向前，右轮向后
LeftMotor.spin(forward, 50, percent);
RightMotor.spin(reverse, 50, percent);
wait(500, msec);
LeftMotor.stop();
RightMotor.stop();
C++ (VS Code) 
// 原地右转：左轮向前，右轮向后
LeftMotor.spin(forward, 50, percent);
RightMotor.spin(reverse, 50, percent);
wait(500, msec);
LeftMotor.stop();
RightMotor.stop();
C++ (PROS) 
// 原地右转：左轮向前，右轮向后
left_motor.move(50);
right_motor.move(-50);
pros::delay(500);
left_motor.brake();
right_motor.brake();
注意Note

原地左转就是反过来：左轮向后，右轮向前。搞混了方向很正常，多试几次就记住了。To turn left in place, just reverse it: left wheel backward, right wheel forward. Mixing up directions is totally normal — you'll get it after a few tries.

2.4 弧线转弯2.4 Arc Turns

给左右轮不同的速度（但同方向），机器人就会走弧线：Give the left and right wheels different speeds (but same direction), and the robot will drive in an arc:

C++ (VEXcode) 
// 弧线右转：左轮快，右轮慢
LeftMotor.spin(forward, 60, percent);
RightMotor.spin(forward, 20, percent);
wait(2000, msec);
LeftMotor.stop();
RightMotor.stop();
C++ (VS Code) 
// 弧线右转：左轮快，右轮慢
LeftMotor.spin(forward, 60, percent);
RightMotor.spin(forward, 20, percent);
wait(2000, msec);
LeftMotor.stop();
RightMotor.stop();
C++ (PROS) 
// 弧线右转：左轮快，右轮慢
left_motor.move(60);
right_motor.move(20);
pros::delay(2000);
left_motor.brake();
right_motor.brake();

速度差越大，弯越急；速度差越小，弯越缓。The bigger the speed difference, the sharper the turn; the smaller the difference, the gentler the curve.

2.5 封装成函数2.5 Wrapping into Functions

每次写 4 行来直走太麻烦了，我们可以把常用动作封装成函数：Writing 4 lines every time just to drive straight is tedious. We can wrap common actions into functions:

C++ (VEXcode) 
void moveForward(int speed, int ms) {
    LeftMotor.spin(forward, speed, percent);
    RightMotor.spin(forward, speed, percent);
    wait(ms, msec);
    LeftMotor.stop();
    RightMotor.stop();
}

void turnRight(int speed, int ms) {
    LeftMotor.spin(forward, speed, percent);
    RightMotor.spin(reverse, speed, percent);
    wait(ms, msec);
    LeftMotor.stop();
    RightMotor.stop();
}

void turnLeft(int speed, int ms) {
    LeftMotor.spin(reverse, speed, percent);
    RightMotor.spin(forward, speed, percent);
    wait(ms, msec);
    LeftMotor.stop();
    RightMotor.stop();
}
C++ (VS Code) 
void moveForward(int speed, int ms) {
    LeftMotor.spin(forward, speed, percent);
    RightMotor.spin(forward, speed, percent);
    wait(ms, msec);
    LeftMotor.stop();
    RightMotor.stop();
}

void turnRight(int speed, int ms) {
    LeftMotor.spin(forward, speed, percent);
    RightMotor.spin(reverse, speed, percent);
    wait(ms, msec);
    LeftMotor.stop();
    RightMotor.stop();
}

void turnLeft(int speed, int ms) {
    LeftMotor.spin(reverse, speed, percent);
    RightMotor.spin(forward, speed, percent);
    wait(ms, msec);
    LeftMotor.stop();
    RightMotor.stop();
}
C++ (PROS) 
void moveForward(int speed, int ms) {
    left_motor.move(speed);
    right_motor.move(speed);
    pros::delay(ms);
    left_motor.brake();
    right_motor.brake();
}

void turnRight(int speed, int ms) {
    left_motor.move(speed);
    right_motor.move(-speed);
    pros::delay(ms);
    left_motor.brake();
    right_motor.brake();
}

void turnLeft(int speed, int ms) {
    left_motor.move(-speed);
    right_motor.move(speed);
    pros::delay(ms);
    left_motor.brake();
    right_motor.brake();
}

有了这些函数，走一个正方形路线变得很简单：With these functions, driving in a square becomes really simple:

C++ (VEXcode) 
// 走正方形：前进 → 右转 → 前进 → 右转 ...
for (int i = 0; i < 4; i++) {
    moveForward(50, 1000);
    turnRight(30, 500);
}
C++ (VS Code) 
// 走正方形：前进 → 右转 → 前进 → 右转 ...
for (int i = 0; i < 4; i++) {
    moveForward(50, 1000);
    turnRight(30, 500);
}
C++ (PROS) 
// 走正方形：前进 → 右转 → 前进 → 右转 ...
for (int i = 0; i < 4; i++) {
    moveForward(50, 1000);
    turnRight(30, 500);
}
检查点：预测轨迹Checkpoint: Predict the Path
下面这段代码让机器人走出什么形状？What shape does this code make the robot drive?
C++ (VEXcode) 
for (int i = 0; i < 3; i++) {
    moveForward(50, 1000);
    turnLeft(30, 600);
}
C++ (VS Code) 
for (int i = 0; i < 3; i++) {
    moveForward(50, 1000);
    turnLeft(30, 600);
}
C++ (PROS) 
for (int i = 0; i < 3; i++) {
    moveForward(50, 1000);
    turnLeft(30, 600);
}

2.6 写代码练习2.6 Coding Exercise

挑战Challenge

用 moveForward() 和 turnRight() 写一段代码，让机器人走一个L 形路线：先前进，右转 90 度，再前进。Write code using moveForward() and turnRight() to make the robot drive an L-shaped path: drive forward, turn right 90 degrees, then drive forward again.