Movimiento#

Introducción #

El robot codificador VEX AIM cuenta con un sistema de propulsión holonómico que le permite moverse en cualquier dirección y rotar de forma independiente. El movimiento proporciona métodos de movimiento, giro, ajuste de velocidad y seguimiento de posición.

Esfera de brújula circular de 0 a 315 grados que rodea una pantalla gris oscuro con pantalla azul marino. La parte frontal del robot apunta a 0 grados en la esfera de brújula.

A continuación se muestra una lista de los métodos disponibles:

Acciones: Mover y girar el robot.

move_at – Moves the robot at a specified angle.
move_for – Moves the robot at an angle for a specific distance.
move_with_vectors – Moves the robot using vector-based x, y, and rotation values.
turn – Turns the robot left or right.
turn_for – Turns the robot a set number of degrees.
turn_to – Turns the robot to face a specific heading.
stop_all_movement – Stops all movement of the robot.

Mutadores: establecen velocidades de movimiento y giro predeterminadas.

set_move_velocity – Sets the default movement speed.
set_turn_velocity – Sets the default turn speed.
set_xy_position – Sets the robot’s current position.

Getters – Devuelven el estado y la posición del robot.

get_x_position – Returns the robot’s x-coordinate.
get_y_position – Returns the robot’s y-coordinate.
is_move_active – Returns whether the robot is currently moving.
is_turn_active – Returns whether the robot is currently turning.
is_stopped – Returns whether the robot is stopped.

Comportamiento #

move_at #

move_at moves the robot at a specified angle (from -360 to 360 degrees) and velocity (from 0 to 100 in PERCENT or 0 to 200 in MMPS).

Uso:

robot.move_at(angle, velocity, units)

Parámetros	Descripción
`angle`	El ángulo, como un número entero o flotante, en el que se mueve el robot, que varía entre -360 y 360 grados.
`velocity`	Optional. The velocity as an integer or float number at which the robot will move. If the velocity is not specified, the default velocity is 50%. The range can be: from 0 to 100 in `PERCENT`. from 0 to 200 in `MMPS`.
`units`	Optional. The velocity unit is `PERCENT` (default) or millimeters per second `MMPS`.

Parámetros

Descripción

angle

El ángulo, como un número entero o flotante, en el que se mueve el robot, que varía entre -360 y 360 grados.

velocity

Optional. The velocity as an integer or float number at which the robot will move. If the velocity is not specified, the default velocity is 50%. The range can be:

from 0 to 100 in PERCENT.
from 0 to 200 in MMPS.

units

Optional. The velocity unit is PERCENT (default) or millimeters per second MMPS.

# Move right, then move forward and stop.
robot.move_at(90)
wait(1,SECONDS)
robot.move_at(0)
wait(1,SECONDS)
robot.stop_all_movement()

# Move right slowly, move in reverse quickly and stop.
robot.move_at(90, 25)
wait(2, SECONDS)
robot.move_at(180, 100, PERCENT)
wait(1, SECONDS)
robot.stop_all_movement()

# Move diagonally to the right and stop.
robot.move_at(45.33)
wait(1,SECONDS)
robot.stop_all_movement()

move_for #

move_for moves the robot at a specific angle for a specified distance.

Uso:

robot.move_for(distance, angle, velocity, units, wait)

Parámetros	Descripción
`distance`	La distancia, en número entero o flotante, que se moverá el robot, medida en milímetros (mm).
`angle`	El ángulo, como un número entero o flotante, en el que se mueve el robot, que varía entre -360 y 360 grados.
`velocity`	Opcional. La velocidad, como un número entero o de punto flotante, a la que se moverá el robot. Si no se especifica, la velocidad predeterminada es del 50 %.
`units`	Optional. The velocity unit is `PERCENT` (default) or millimeters per second `MMPS`.
`wait`	Optional. `wait=True` (default) - The robot waits until `move_for` is complete before executing the next line of code. `wait=False` - The robot starts the action and moves on to the next line of code right away, without waiting for `move_for` to finish.

# Move right, then move forward.
robot.move_for(50, 90)
robot.move_for(100, 0)

# Move in reverse slowly, then move forward quickly.
robot.move_for(100, 180, 25)
robot.move_for(100, 0, 100, PERCENT)

# Drive forward and blink all LEDs red.
robot.move_for(100, 0, wait=False)
robot.led.on(ALL_LEDS, RED)
wait(0.5, SECONDS)
robot.led.on(ALL_LEDS, BLACK)
wait(0.5, SECONDS)
robot.led.on(ALL_LEDS, RED)
wait(0.5, SECONDS)
robot.led.on(ALL_LEDS, BLACK)

move_with_vectors #

move_with_vectors moves the robot using vector-based motion, combining horizontal (X-axis) and vertical (Y-axis) movement and having the robot rotate at the same time.

Uso:

robot.move_with_vectors(forward, rightward, rotation)

Parámetros	Descripción
`forward`	Velocidad del robot en el eje Y (movimiento hacia adelante y hacia atrás). Acepta un valor de -100 a 100 como porcentaje, donde los valores negativos indican retroceso y los positivos avance.
`rightward`	Velocidad del robot en el eje X (movimiento lateral). Acepta un valor de -100 a 100 como porcentaje, donde los valores negativos se desplazan a la izquierda y los positivos a la derecha.
`rotation`	Velocidad de rotación del robot. Acepta un valor de -100 a 100 como porcentaje, donde los valores negativos giran en sentido antihorario y los positivos en sentido horario.

# Move at 15°
robot.move_with_vectors(48.3, 12.95, 0)
wait(2, SECONDS)
robot.stop_all_movement()

# Move at 45° while turning counterclockwise.
robot.move_with_vectors(50, 50, -30)
wait(2, SECONDS)
robot.stop_all_movement()

turn #

turn turns the robot in a specific direction.

Uso:

robot.turn(direction, velocity, units)

Parámetros	Descripción
`direction`	The direction in which the robot turns: `LEFT` or `RIGHT`.
`velocity`	Opcional. La velocidad, en forma de entero o punto flotante, a la que gira el robot. Si no se especifica, la velocidad predeterminada es del 50 %.
`units`	Optional. Degrees per second `DPS` (default) or `PERCENT`.

# Turn left, then stop.
robot.turn(LEFT)
wait(1, SECONDS)
robot.stop_all_movement()

# Turn left quickly, turn right slowly, then stop.
robot.turn(LEFT, 80)
wait(2, SECONDS)
robot.turn(RIGHT, 20, PERCENT)
wait(3, SECONDS)
robot.stop_all_movement()

turn_for #

turn_for turns the robot in a specified direction for a specified angle relative to its current facing direction.

Uso:

robot.turn_for(direction, angle, velocity, units, wait)

Parámetros	Descripción
`direction`	The direction in which the robot turns: `LEFT` or `RIGHT`.
`angle`	El ángulo, como un número entero o flotante, en el que se mueve el robot, que varía entre -360 y 360 grados.
`velocity`	Opcional. La velocidad a la que girará el robot. Si no se especifica, la velocidad predeterminada es del 50 %.
`units`	Optional. degrees per second `PERCENT` (default) or `DPS`.
`wait`	Optional. `wait=True` (default) - The robot waits until `turn_for` is complete before executing the next line of code. `wait=False` - The robot starts the action and moves to the next command without waiting for `turn_for` to finish.

# Turn left, then turn around to the right.
robot.turn_for(LEFT, 90)
robot.turn_for(RIGHT, 180)

# Turn left quickly, then turn right slowly.
robot.turn_for(LEFT, 90, 100)
robot.turn_for(RIGHT, 180, 15, PERCENT)

# Turn right and blink all LEDs blue.
robot.turn_for(RIGHT, 180, wait=False)
robot.led.on(ALL_LEDS, BLUE)
wait (0.5, SECONDS)
robot.led.off(ALL_LEDS)
wait (0.5, SECONDS)
robot.led.on(ALL_LEDS, BLUE)
wait (0.5, SECONDS)
robot.led.off(ALL_LEDS)

turn_to #

turn_to is used to turn the robot to face a specific heading.

Uso:

robot.turn_to(heading, velocity, units, wait)

Parámetros	Descripción
`heading`	El rumbo que tomará el robot será de –360 a 360 grados.
`velocity`	Opcional. La velocidad, como un número entero o de punto flotante, a la que girará el robot. Si no se especifica, la velocidad predeterminada es del 50 %.
`units`	Optional. Degrees per second `PERCENT` (default) or `DPS`.
`wait`	Optional. `wait=True` (default) - The robot waits until `turn_to` is complete before executing the next line of code. `wait=False` - The robot starts the action and moves on to the next line of code right away, without waiting for `turn_to` to finish.

# Turn to face each cardinal directions.
robot.turn_to(90)
wait(2, SECONDS)
robot.turn_to(180)
wait(2, SECONDS)
robot.turn_to(270)
wait(2, SECONDS)
robot.turn_to(0)

# Turn to face backward slowly, then face forward quickly.
robot.turn_to(180, 25)
wait(1, SECONDS)
robot.turn_to(0, 90, PERCENT)

# Turn around quickly and blink all LEDs green.
robot.turn_to(180, 100, wait=False)
robot.led.on(ALL_LEDS, GREEN)
wait(0.5, SECONDS)
robot.led.off(ALL_LEDS)
wait(0.5, SECONDS)
robot.led.on(ALL_LEDS, GREEN)
wait(0.5, SECONDS)
robot.led.off(ALL_LEDS)

stop_all_movement #

stop_all_movement is used to stop all movement of the robot.

Uso:

robot.stop_all_movement()

Parámetros	Descripción
	Este método no tiene parámetros.

# Turn right, then stop moving
robot.turn(RIGHT)
wait(1, SECONDS)
robot.stop_all_movement()

Mutadores #

set_move_velocity #

set_move_velocity overrides the default velocity for all subsequent movement methods in the project. The default move velocity is 50% (100 millimeters per second).

Uso:

robot.set_move_velocity(velocity, units)

Parámetros	Descripción
`velocity`	Establece la velocidad de movimiento predeterminada.
`units`	Optional. The velocity unit is `PERCENT` (default) or `MMPS`.

# Move forward at the default velocity,
robot.set_move_velocity(50)
robot.move_for(100, 0)
wait(1, SECONDS)
# Move slower than the default velocity
robot.set_move_velocity(20)
robot.move_for(100, 0)
wait(1, SECONDS)
# Move faster than the default velocity
robot.set_move_velocity(100)
robot.move_for(100, 0)

set_turn_velocity #

set_turn_velocity overrides the default velocity for all subsequent turn methods in the project. The default turn velocity is 50% (75 degrees per second).

Uso:

robot.set_turn_velocity(velocity, units)

Parámetros	Descripción
`velocity`	Establece la velocidad de giro predeterminada.
`units`	Optional. degrees per second `PERCENT` (default) or `DPS`.

# Turn around at default velocity
robot.set_turn_velocity(50)
robot.turn_for(RIGHT, 180)
wait(1, SECONDS)
# Turn around slower than the default velocity
robot.set_turn_velocity(20)
robot.turn_for(RIGHT, 180)
wait(1, SECONDS)
# Turn around faster than the default velocity
robot.set_turn_velocity(100)
robot.turn_for(RIGHT, 180)

set_xy_position #

set_xy_position sets the robot’s current position to specified values. This updates the robot’s internal coordinates.

Uso:

robot.set_xy_position(x, y)

Parámetros	Descripción
`x`	La nueva coordenada x en mm como un entero.
`y`	La nueva coordenada y en mm como un entero.

# Set the robot's current position
# Move forward and print the new coordinate
robot.set_xy_position(100, 50)
robot.move_for(150, 0)
robot.screen.print("X:", robot.get_x_position())
robot.screen.next_row()
robot.screen.print("Y:", robot.get_y_position())

Captadores #

get_x_position #

get_x_position returns the robot’s x-coordinate as an integer in millimeters.

Uso:

robot.get_x_position()

Parámetros	Descripción
	Este método no tiene parámetros.

# Print the start and end x-value 
# of the robot's position after moving
robot.screen.print("Start X:", robot.get_x_position())
robot.move_for(200, 90)
robot.screen.next_row()
robot.screen.print("End X:", robot.get_x_position())

get_y_position #

get_y_position returns the robot’s y-coordinate as an integer in millimeters.

Uso:

robot.get_y_position()

Parámetros	Descripción
	Este método no tiene parámetros.

# Print the start and end y-value 
# of the robot's position after moving
robot.screen.print("Start Y:", robot.get_y_position())
robot.move_for(200, 0)
robot.screen.next_row()
robot.screen.print("End Y:", robot.get_y_position())

is_move_active #

is_move_active returns a Boolean indicating whether the robot is currently moving.

True – The robot is moving.
False – The robot is not moving.

Uso:

robot.is_move_active()

Parámetros	Descripción
	Este método no tiene parámetros.

# Blink all the LEDs when the robot is moving.
robot.move_for(200, 0, wait=False)

while robot.is_move_active():
    robot.led.on(ALL_LEDS, ORANGE)
    wait(0.5, SECONDS)
    robot.led.on(ALL_LEDS, CYAN)
    wait(0.5, SECONDS)

robot.led.off(ALL_LEDS)

is_turn_active #

is_turn_active returns a Boolean indicating whether the robot is currently turning.

True – The robot is turning.
False – The robot is not turning.

Uso:

robot.is_turn_active()

Parámetros	Descripción
	Este método no tiene parámetros.

# Blink all the LEDs while the robot is turning
robot.turn_for(RIGHT, 180, wait=False) 

while robot.is_turn_active():
    robot.led.on(ALL_LEDS, GREEN)
    wait(0.5, SECONDS)
    robot.led.on(ALL_LEDS, CYAN)
    wait(0.5, SECONDS)

robot.led.off(ALL_LEDS)

is_stopped #

is_stopped returns a Boolean indicating whether the robot is stopped.

True – The robot is completely stopped.
False – The robot is currently moving or turning.

Uso:

robot.is_stopped()

Parámetros	Descripción
	Este método no tiene parámetros.

# Blink all the LEDs while the robot is moving or turning

def light_show():
    # Flash LEDs while the robot is moving or turning
    while not robot.is_stopped():
        robot.led.on(ALL_LEDS, GREEN)
        wait(.5, SECONDS)
        robot.led.on(ALL_LEDS, PURPLE)
        wait(.5, SECONDS)

    robot.led.off(ALL_LEDS)

robot.move_for(200, 0, wait=False)
light_show()

robot.turn_for(RIGHT, 180, wait=False)
light_show()