Ελεγχος#

Εισαγωγή#

Το Control στην Python σάς επιτρέπει να λέτε στο ρομπότ πότε να περιμένει, πότε να επαναλαμβάνει ενέργειες, πώς να λαμβάνει αποφάσεις και πότε να τερματίζει το έργο.

Παρακάτω είναι μια λίστα με τα διαθέσιμα στοιχεία ελέγχου, συμπεριλαμβανομένων μεθόδων και βασικών λέξεων-κλειδιών Python:

  • wait – Pauses the project for a given time.

  • for – Repeats code for each item in a sequence.

  • if – Runs code if a condition is true.

  • if/else – Runs different code depending on a condition.

  • if/elif/else – Checks multiple conditions in order.

  • while – Repeats code while a condition is true.

  • break – Exits a loop immediately.

  • program_stop – Ends the running program.

  • pass – Placeholder used when no action is needed.

Περιμένετε#

wait pauses for a specific amount of time before moving to the next line of code.

Usage:
wait(time, units)

Παράμετροι

Περιγραφή

time

Ο χρόνος αναμονής, ως θετικός ακέραιος αριθμός ή δεκαδικός αριθμός.

units

The unit that represents the wait time: MSEC (default) – milliseconds, or SECONDS

 
# Move the arm to the desired position and then blink the signal tower
arm.move_to(40, 140, 210, False)
wait(1, SECONDS)
signal_tower.set_color(SignalTower.BLUE, SignalTower.BLINK)

για#

for repeats a set of actions a specific number of times. for can be used to loop through items in lists, tuples, dictionaries, sets, strings, or for a specified amount of loops with range.

Χρήση:

for value in expression_list:
    pass

Στοιχεία

Περιγραφή

value

Μια προσωρινή μεταβλητή που αποθηκεύει το τρέχον στοιχείο στην επανάληψη.

expression_list

Η συλλογή στοιχείων που επαναλαμβάνονται (π.χ. λίστα, συμβολοσειρά, εύρος).

 
# Move the arm 4 times by 100 millimeters on the y axis
for index in range(4):
    arm.move_inc(0, 100, 0)

αν#

if runs the indented block of code if the condition is True.

Χρήση:

if condition:
    pass

Στοιχεία

Περιγραφή

condition

An expression or variable that is checked when the statement runs. If it is True, the code inside the if block executes; if it is False, the block is skipped.

 
# Display the time until the move is completed
arm.move_to(-100, 200, 100, False)
while True:
    print("\033[2J")
    print(brain.timer_time(SECONDS))
    wait(50, MSEC)
    if arm.is_done():
        brain.timer_reset()

αν/αλλιώς#

if and else determine which indented block of code runs based on whether the condition is True or False.

Χρήση:

if condition:
    pass
else:
    pass

Στοιχεία

Περιγραφή

condition

An expression or variable that is checked when the statement runs. If it is True, the code inside the if block executes; if it is False, the code inside the else block executes instead.

 
# Display the time until the move is completed
arm.move_to(-100, 200, 100, False)
while True:
    if arm.is_done():
        brain.timer_reset()
    else:
        print("\033[2J")
        print(brain.timer_time(SECONDS))
    wait(50, MSEC)

αν/ελιφ/αλλιώς#

The if/elif/else structure selects which indented block of code runs based on conditions:

  • if runs its block if the condition is True.

  • elif checks additional conditions only if all previous conditions are False. Multiple elif statements can be used.

  • else runs its block only if none of the previous conditions are True.

Χρήση:

if condition:
    pass
elif condition:
    pass
else:
    pass

Στοιχεία

Περιγραφή

condition

An expression or variable that is checked when the statement runs. The first condition that is True determines which block executes; if none are True, the else block runs.

 
# Change the signal tower light if arm can reach to the desired position
while True:
    if arm.can_arm_reach_to(200, 200, 200):
        signal_tower.set_color(SignalTower.BLUE, SignalTower.BLINK)
    elif arm.can_arm_reach_to(300, 300, 300):
        signal_tower.set_color(SignalTower.GREEN, SignalTower.BLINK)
    else:
        signal_tower.set_color(SignalTower.ALL, SignalTower.OFF)
    wait(50, MSEC)

ενώ#

while repeatedly runs code as long as the condition is True. It can also be used like a “forever” by using True as the condition, or a “wait until” by adding not to the condition, as shown in the examples below.

Χρήση:

while condition:
    pass

Στοιχεία

Περιγραφή

condition

An expression or variable that is checked before each iteration. If it is True, the loop continues; if it is False, the loop stops.

 
# Display the time until the move is completed
arm.move_to(-100, 200, 100, False)
while True:
    if arm.is_done():
        break
    else:
        print("\033[2J")
        print(brain.timer_time(SECONDS))
    wait(50, MSEC)


# Blink blue light until the move is completed
signal_tower.set_color(SignalTower.BLUE, SignalTower.BLINK)
arm.move_to(-100, 200, 100, False)
while not arm.is_done():
    wait(0.2, SECONDS)
signal_tower.set_color(SignalTower.BLUE, SignalTower.ON)

διακοπή#

break exits a loop immediately. break can be used to leave loops that otherwise would loop forever.

# Display the time until the move is completed
arm.move_to(-100, 200, 100, False)
while True:
    if arm.is_done():
        break
    else:
        print("\033[2J")
        print(brain.timer_time(SECONDS))
    wait(50, MSEC)

πρόγραμμα_διακοπής#

program_stop ends a running project.

Usage:
brain.program_stop()

Παράμετροι

Περιγραφή

Αυτή η μέθοδος δεν έχει παραμέτρους.

 
# Stop the project until the move is completed
arm.move_to(-100, 200, 100, False)
while True:
    if arm.is_done():
        break
    else:
        print("\033[2J")
        print(brain.timer_time(SECONDS))
    wait(50, MSEC)
brain.program_stop()

πέρασμα#

pass is a placeholder for future code and can be used to avoid errors in empty loops, conditionals, and functions.

if condition:
    pass


def function():
    pass
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