Control#

Introducción #

El lenguaje de control en Python te permite indicarle al robot cuándo esperar, cuándo repetir acciones, cómo tomar decisiones y cuándo finalizar el proyecto.

A continuación se muestra una lista de los controles disponibles, incluidos los métodos y las palabras clave principales de 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.

esperar #

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

Usage:
wait(time, units)

Parámetros	Descripción
`time`	El tiempo de espera, expresado como un número entero positivo o decimal.
`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)
signaltower_1.set_color(signal_tower.BLUE, signal_tower.BLINK)

para #

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.

Uso:

for value in expression_list:
    pass

Componentes	Descripción
`value`	Una variable temporal que almacena el elemento actual en la iteración.
`expression_list`	La colección de elementos que se recorren en un bucle (por ejemplo, lista, cadena, rango).

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

si #

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

Uso:

if condition:
    pass

Componentes	Descripción
`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(timer.time(SECONDS))
    wait(50, MSEC)
    if arm.is_done():
        timer.clear()

si/entonces #

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

Uso:

if condition:
    pass
else:
    pass

Componentes	Descripción
`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():
        timer.clear()
    else:
        print("\033[2J")
        print(timer.time(SECONDS))
    wait(50, MSEC)

si/si no/de lo contrario #

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.

Uso:

if condition:
    pass
elif condition:
    pass
else:
    pass

Componentes	Descripción
`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):
        signaltower_1.set_color(signal_tower.BLUE, signal_tower.BLINK)
    elif arm.can_arm_reach_to(300, 300, 300):
        signaltower_1.set_color(signal_tower.GREEN, signal_tower.BLINK)
    else:
        signaltower_1.set_color(signal_tower.OFF, signal_tower.OFF)
    wait(50, MSEC)

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.

Uso:

while condition:
    pass

Componentes	Descripción
`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(timer.time(SECONDS))
    wait(50, MSEC)

# Blink blue light until the move is completed
signaltower_1.set_color(signal_tower.BLUE, signal_tower.BLINK)
arm.move_to(-100, 200, 100, False)
while not arm.is_done():
    wait(0.2, SECONDS)
signaltower_1.set_color(signal_tower.BLUE, signal_tower.ON)

romper #

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(timer.time(SECONDS))
    wait(50, MSEC)

programa_stop #

program_stop ends a running project.

Usage:
brain.program_stop()

Parámetros	Descripción
	Este método no tiene parámetros.

# 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(timer.time(SECONDS))
    wait(50, MSEC)
brain.program_stop()

aprobar #

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