Python específico para robots#

Introducción#

The VIQRC 25-26 Mix & Match Playground features methods exclusive to the build designed for this Playground, including two motor options, IQ AI Vision Sensor, Optical Sensor, and Touch LED.

Todos los métodos estándar de VEXcode VR están disponibles para su uso en el patio de juegos VIQRC 25-26 Mix & Match.

A continuación se muestra una lista de todos los métodos específicos de Playground disponibles:

Movimiento: mueve y rastrea los motores del robot.

  • Comportamiento

    • spin – Spins the selected motor or motor group indefinitely.

    • spin_for – Spins a motor or group for a specific distance in degrees or turns.

    • spin_to_position – Spins a motor or motor group to a set position.

    • stop – Stops a specific motor or motor group from spinning.

  • Mutadores

    • set_position – Sets the encoder value of a motor or motor group.

    • set_velocity – Sets the speed of a motor or motor group as a percentage.

    • set_timeout – Limits how long a motor block waits before giving up if movement is blocked.

  • Conseguidores

    • is_done – Returns a Boolean indicating whether the motor is no longer spinning.

    • is_spinning – Returns a Boolean indicating whether the motor is currently spinning.

    • position – Returns the motor’s current rotational position in degrees or turns.

    • velocity – Returns the motor’s current velocity in % or rpm.

AI Vision - Capture and analyze objects using the IQ AI Vision Sensor.

  • Conseguidores

    • take_snapshot – Returns a tuple of detected objects based on a given signature.

  • Properties

    • width – Width of the detected object in pixels.

    • height – Height of the detected object in pixels.

    • centerX – X position of the object’s center in pixels.

    • centerY – Y position of the object’s center in pixels.

    • originX – X position of the object’s top-left corner in pixels.

    • originY – Y position of the object’s top-left corner in pixels.

    • id – Classification or tag ID of the object.

Detección: utilice los distintos sensores del robot.

  • LED táctil

    • set_color – Sets the TouchLED to a selected color.

  • Óptico

    • is_near_object – Returns whether a detected object is near the Optical Sensor.

    • color – Returns the color detected from the Optical Sensor.

    • brightness – Returns the brightness percentage detected by the sensor.

    • hue – Returns the hue value of the detected color.

    • object_detected – Registers a callback function for when the Optical Sensor detects an object.

    • object_lost – Registers a callback function for when the Optical Sensor loses an object.

Movimiento#

Actions#

girar#

spin spins a motor indefinitely.

Uso:
Se puede utilizar uno de los dos objetos de motor disponibles con este método, como se muestra a continuación:

motor

Dominio

claw_motor

claw_motor.spin(direction) — The Claw Motor

lift_motor

lift_motor.spin(direction) — The Lift Motor

Parámetros

Descripción

direction

The direction for the motor to spin:

  • FORWARD – Opens claw or lowers the lift.
  • REVERSE – Closes claw or raises the lift. 

def main():
  # Place a Pin atop another Pin
  lift_motor.spin_for(REVERSE, 600, DEGREES)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

girar_para#

spin_for spins a motor for a given amount of degrees or turns.

Uso:
Se puede utilizar uno de los dos objetos de motor disponibles con este método, como se muestra a continuación:

motor

Dominio

claw_motor

claw_motor.spin_for(direction, distance, units, wait=True) — The Claw Motor

lift_motor

lift_motor.spin_for(direction, distance, units, wait=True) — The Lift Motor

Parámetros

Descripción

direction

The direction for the motor to spin:

  • FORWARD – Opens claw or lowers the lift.
  • REVERSE – Closes claw or raises the lift.

distance

La distancia que debe girar el motor, expresada en un número entero.

units

The unit that represents the distance to rotate:

  • DEGREES
  • TURNS

wait

Optional.

  • wait=True (default) - The robot waits until spin_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 spin_for to finish.

 
def main():
  # Place a Pin atop another Pin
  lift_motor.spin_for(REVERSE, 600, DEGREES)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

girar a la posición#

spin_to spins a motor to a given position.

Uso:
Se puede utilizar uno de los dos objetos de motor disponibles con este método, como se muestra a continuación:

motor

Dominio

claw_motor

claw_motor.spin_to_position(angle, units, wait=True) — The Claw Motor

lift_motor

lift_motor.spin_to_position(angle, units, wait=True) — The Lift Motor

Parámetros

Descripción

angle

El ángulo específico o número de vueltas que dará el motor.

units

The unit that represents the angle to rotate to:

  • DEGREES
  • TURNS

wait

Optional.

  • wait=True (default) - The robot waits until spin_to_position 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 spin_to_position to finish.

 
def main():
  # Place a Pin atop another Pin
  lift_motor.spin_to_position(-2, TURNS)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

detener#

stop stops a motor from spinning.

Uso:
Se puede utilizar uno de los dos objetos de motor disponibles con este método, como se muestra a continuación:

motor

Dominio

claw_motor

claw_motor.stop() — The Claw Motor

lift_motor

lift_motor.stop() — The Lift Motor

Parámetros

Descripción

Este método no tiene parámetros.

 
def main():
  # Place a Pin atop another Pin
  lift_motor.spin(REVERSE)
  wait(2, SECONDS)
  lift_motor.stop()
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

Mutators#

posición_establecida#

set_position sets a motor’s encoder position to the given position value.

Uso:
Se puede utilizar uno de los dos objetos de motor disponibles con este método, como se muestra a continuación:

motor

Dominio

claw_motor

claw_motor.set_position(position, units) — The Claw Motor

lift_motor

lift_motor.set_position(position, units) — The Lift Motor

Parámetros

Descripción

position

El entero específico que se debe configurar para el codificador del motor.

units

The unit that represents the angle to rotate to:

  • DEGREES
  • TURNS 

def main():
  # Place a Pin atop another Pin
  lift_motor.set_position(100, DEGREES)
  lift_motor.spin_to_position(-500, DEGREES)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

establecer_velocidad#

set_velocity sets the speed of a motor.

Uso:
Se puede utilizar uno de los dos objetos de motor disponibles con este método, como se muestra a continuación:

motor

Dominio

claw_motor

claw_motor.set_velocity(velocity, units) — The Claw Motor

lift_motor

lift_motor.set_velocity(velocity, units) — The Lift Motor

Parámetros

Descripción

velocity

La velocidad a la que girará el motor IQ, que varía de 0 a 100.

units

The unit that represents the new velocity:

  • PERCENT 

def main():
  # Place a Pin atop another Pin
  lift_motor.set_velocity(100, PERCENT)
  lift_motor.spin_for(REVERSE, 600, DEGREES)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

establecer_tiempo_de_espera#

set_timeout sets a time limit for a motor’s movement commands. This prevents motion commands that do not reach their intended position from preventing subsequent commands from running.

Uso:
Se puede utilizar uno de los dos objetos de motor disponibles con este método, como se muestra a continuación:

motor

Dominio

claw_motor

claw_motor.set_timeout(value, units) — The Claw Motor

lift_motor

lift_motor.set_timeout(value, units) — The Lift Motor

Parámetros

Descripción

value

La cantidad de tiempo que el motor esperará antes de detenerse.

units

The unit to represent the timeout:

  • SECONDS
  • MSEC – milliseconds 

def main():
  # Place a Pin atop another Pin
  lift_motor.set_timeout(2, SECONDS)
  lift_motor.spin_for(REVERSE, 5, TURNS)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

Getters#

está_hecho#

is_done returns a Boolean indicating whether the specified motor is not spinning.

  • True – The specified motor is not spinning.

  • False – The specified motor is spinning.

Uso:
Se puede utilizar uno de los dos objetos de motor disponibles con este método, como se muestra a continuación:

motor

Dominio

claw_motor

claw_motor.is_done() — The Claw Motor

lift_motor

lift_motor.is_done() — The Lift Motor

Parámetros

Descripción

Este método no tiene parámetros.

 
def main():
  # Place a Pin atop another Pin
  lift_motor.spin_for(REVERSE, 600, DEGREES, wait=False)
  wait(0.1, SECONDS)
  while not lift_motor.is_done():
      touchled.set_color(RED)
      wait(0.5, SECONDS)
      touchled.set_color(NONE)
      wait(0.5, SECONDS)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

está girando#

is_spinning returns a Boolean indicating whether the specified motor is spinning.

  • True – The specified motor is spinning.

  • False – The specified motor is not spinning.

Uso:
Se puede utilizar uno de los dos objetos de motor disponibles con este método, como se muestra a continuación:

motor

Dominio

claw_motor

claw_motor.is_spinning() — The Claw Motor

lift_motor

lift_motor.is_spinning() — The Lift Motor

Parámetros

Descripción

Este método no tiene parámetros.

 
def main():
  # Place a Pin atop another Pin
  lift_motor.spin_for(REVERSE, 600, DEGREES, wait=False)
  wait(0.1, SECONDS)
  while lift_motor.is_spinning():
      touchled.set_color(RED)
      wait(0.5, SECONDS)
      touchled.set_color(NONE)
      wait(0.5, SECONDS)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

posición#

position returns the total distance the specified motor has rotated.

Uso:
Se puede utilizar uno de los dos objetos de motor disponibles con este método, como se muestra a continuación:

motor

Dominio

claw_motor

claw_motor.position(units) — The Claw Motor

lift_motor

lift_motor.position(units) — The Lift Motor

Parámetros

Descripción

units

The units that represent the motor’s position:

  • DEGREES
  • TURNS 

def main():
  # Place a Pin atop another Pin
  lift_motor.spin(REVERSE)
  while not -600 > claw_motor.position(DEGREES):
      wait(2, MSEC)
  lift_motor.stop()
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

velocidad#

velocity returns the current rotational speed of the motor.

Uso:
Se puede utilizar uno de los dos objetos de motor disponibles con este método, como se muestra a continuación:

motor

Dominio

claw_motor

claw_motor.velocity(units) — The Claw Motor

lift_motor

lift_motor.velocity(units) — The Lift Motor

Parámetros

Descripción

units

The unit that represent the motor’s position:

  • PERCENT 

def main():
  # Place a Pin atop another Pin
  lift_motor.set_velocity(100, PERCENT)
  lift_motor.spin_for(REVERSE, 600, DEGREES, wait=False)
  wait(0.5, SECONDS)
  brain.screen.print(lift_motor.velocity(PERCENT))
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

AI Vision#

Getters#

take_snapshot#

take_snapshot filters the data from the IQ AI Vision Sensor frame to return a tuple.

The tuple stores objects ordered from largest to smallest by width, starting at index 0. Each object’s properties can be accessed using its index. An empty tuple is returned if no matching objects are detected.

Usage:
ai_vision.take_snapshot(signature)

Parámetros

Descripción

signature

Which signature to get data of. The only available signature is:

  • AiVision.ALL_AIOBJS - Detects Beams and Blue, Red, and Orange Pins.

 
def main():
    # Place the Red Pin on the top left Blue Pin
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    drivetrain.turn_for(LEFT, 38, DEGREES)
    
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
    while not ai_objects[0].width > 48:
        # Move forward until the Robot is close to the Pin
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        drivetrain.drive(FORWARD)
        
    drivetrain.drive_for(FORWARD, 160, MM)
    claw_motor.spin(FORWARD)

vr_thread(main)

Properties#

There are seven properties that are included with each object stored in a tuple after take_snapshot is used.

Some property values are based off of the detected object’s position in the IQ AI Vision Sensor’s view at the time that take_snapshot was used. The IQ AI Vision Sensor has a resolution of 320 by 240 pixels.

.width#

.width returns the width of the detected object in pixels, which is an integer between 1 and 320.

def main():
    # Place the Red Pin on the top left Blue Pin
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    drivetrain.turn_for(LEFT, 38, DEGREES)
    
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
    while not ai_objects[0].width > 48:
        # Move forward until the Robot is close to the Pin
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        drivetrain.drive(FORWARD)
        
    drivetrain.drive_for(FORWARD, 160, MM)
    claw_motor.spin(FORWARD)

vr_thread(main)

.height#

.height returns the height of the detected object in pixels, which is an integer between 1 and 240.

def main():
    # Place the Red Pin on the top left Blue Pin
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    drivetrain.turn_for(LEFT, 38, DEGREES)
    
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
    while not ai_objects[0].height > 68:
        # Move forward until the Robot is close to the Pin
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        drivetrain.drive(FORWARD)
        
    drivetrain.drive_for(FORWARD, 160, MM)
    claw_motor.spin(FORWARD)

vr_thread(main)

.centerX#

.centerX returns the x-coordinate of the detected object’s center in pixels, which is an integer between 0 and 320.

def main():
    # Place the Red Pin on the bottom left Blue Pin
    drivetrain.drive_for(FORWARD, 50, MM)
    lift_motor.spin_for(REVERSE, 450, DEGREES)
    drivetrain.set_turn_velocity(10, PERCENT)
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)

    while not ai_objects[0].centerX < 190:
        # Turn until the robot is centered on the Blue Pin
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        drivetrain.turn(RIGHT)
    drivetrain.drive_for(FORWARD, 350, MM)
    claw_motor.spin(FORWARD)

vr_thread(main)

.centerY#

.centerY returns the y-coordinate of the detected object’s center in pixels, which is an integer between 0 and 240.

def main():
    # Place the Red Pin on the top left Blue Pin
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    drivetrain.turn_for(LEFT, 38, DEGREES)
    
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
    while not ai_objects[0].centerY > 210:
        # Move forward until the Robot is close to the Pin
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        drivetrain.drive(FORWARD)
        
    drivetrain.drive_for(FORWARD, 190, MM)
    claw_motor.spin(FORWARD)

vr_thread(main)

.originX#

.originX returns the x-coordinate of the top-left corner of the detected object’s bounding box in pixels, which is an integer between 0 and 320.

def main():
    # Place the Red Pin on the bottom left Blue Pin
    drivetrain.drive_for(FORWARD, 50, MM)
    lift_motor.spin_for(REVERSE, 450, DEGREES)
    drivetrain.set_turn_velocity(10, PERCENT)
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
    
    while not ai_objects[0].originX < 160:
        # Turn until the robot is centered on the Blue Pin
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        drivetrain.turn(RIGHT)
    drivetrain.drive_for(FORWARD, 350, MM)
    claw_motor.spin(FORWARD)

vr_thread(main)

.originY#

.originY returns the y-coordinate of the top-left corner of the detected object’s bounding box in pixels, which is an integer between 0 and 240.

def main():
    # Place the Red Pin on the top left Blue Pin
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    drivetrain.turn_for(LEFT, 38, DEGREES)
    
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
    while not ai_objects[0].centerY > 210:
        # Move forward until the Robot is close to the Pin
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        drivetrain.drive(FORWARD)
        
    drivetrain.drive_for(FORWARD, 270, MM)
    claw_motor.spin(FORWARD)

vr_thread(main)

.id#

.id returns the ID of the detected AI Classification as an integer.

AI Classification

id

Signature

Beam

0

GameElements.BEAM

Blue Pin

1

GameElements.BLUE_PIN

Red Pin

2

GameElements.RED_PIN

Orange Pin

3

GameElements.ORANGE_PIN

 
def main():
    # Find the object index of the nearest Blue Pin
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    object_count = 1

    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)

    # Iterate through all detected objects
    if len(ai_objects) > 0:
        for repeat_count in range(len(ai_objects)):
            ai_objects_index = object_count - 1
            if ai_objects[repeat_count].id == GameElements.BLUE_PIN:
                brain.screen.print(str("Closest Blue Pin is ") + str(object_count))
            else:
                object_count = object_count + 1

vr_thread(main)

Detección#

Touch LED#

establecer_color#

set_color sets the color of the Touch LED.

Usage:
touchled.set_color(color)

Parámetros

Descripción

color

The color to set the Touch LED to:

  • NONE – Turns off the Touch LED
  • RED
  • GREEN
  • BLUE
  • YELLOW
  • ORANGE
  • PURPLE
  • WHITE
  • RED_VIOLET
  • VIOLET
  • BLUE_VIOLET
  • BLUE_GREEN
  • YELLOW_GREEN
  • YELLOW_ORANGE
  • RED_ORANGE

 
def main():
  # Place a Pin atop another Pin
  touchled.set_color(RED)
  lift_motor.spin_for(REVERSE, 600, DEGREES)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)
  touchled.set_color(NONE)

Optical#

está_cerca_del_objeto#

is_near_object returns a Boolean indicating whether or not the Optical Sensor detects an object close to the sensor.

  • True – The object is close to the Optical Sensor.

  • False – The object is not close to the Optical Sensor.

Usage:
optical.is_near_object()

Parámetros

Descripción

Este método no tiene parámetros.

 
def main():
  # Place a Pin atop another Pin
  lift_motor.spin_for(REVERSE, 600, DEGREES)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)
  while not not optical.is_near_object():
      wait(2, MSEC)
  lift_motor.spin_to_position(0, DEGREES)

color#

color returns the color detected by the Optical Sensor:

Color devuelto:

  • NONE – No color detected.
  • RED
  • GREEN
  • BLUE
  • YELLOW
  • ORANGE
  • PURPLE
  • WHITE
  • RED_VIOLET
  • VIOLET
  • BLUE_VIOLET
  • BLUE_GREEN
  • YELLOW_GREEN
  • YELLOW_ORANGE
  • RED_ORANGE

Usage:
optical.color()

Parámetros

Descripción

Este método no tiene parámetros.

 
def main():
  # Place a Pin atop another Pin
  lift_motor.spin_for(REVERSE, 600, DEGREES)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)
  while not optical.color() == RED:
      wait(5, MSEC)
  lift_motor.spin_to_position(0, DEGREES)

brillo#

brightness returns the brightness value detected by the Optical Sensor as a percent from 0% to 100%.

Usage:
optical.brightness()

Parámetros

Descripción

Este método no tiene parámetros.

 
def main():
  # Place a Pin atop another Pin
  lift_motor.spin_for(REVERSE, 600, DEGREES)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)
  while not 30 > optical.brightness():
      wait(5, MSEC)
  lift_motor.spin_to_position(0, DEGREES)

matiz#

hue returns the hue detected by the Optical Sensor.

Los valores de tono varían de 0 a 359 grados, correspondientes a las posiciones en la rueda de color que se muestran a continuación.

Una rueda de color circular que muestra un espectro completo de tonos etiquetados con valores de grados alrededor del perímetro, que aumentan en incrementos de 30 grados desde 0° en la parte superior hasta 360°.

Usage:
optical.hue()

Parámetros

Descripción

Este método no tiene parámetros.

 
def main():
  # Place a Pin atop another Pin
  lift_motor.spin_for(REVERSE, 600, DEGREES)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)
  while not optical.hue() > 0:
      wait(5, MSEC)
  lift_motor.spin_to_position(0, DEGREES)

objeto_detectado#

object_detected registers a callback function for when the Optical Sensor detects an object.

Usage:
optical.object_detected(callback, arg)

Parámetros

Descripción

callback

Una función que se llamará cuando se detecte un objeto.

arg

Opcional. Una tupla que se utiliza para pasar argumentos a la función de devolución de llamada.

 
def pin_in_open_claw():
  # Change color when claw isn't holding anything
  touchled.set_color(RED)

def main():
  # Place a Pin atop another Pin
  optical.object_detected(pin_in_open_claw)
  touchled.set_color(GREEN)
  lift_motor.spin_for(REVERSE, 600, DEGREES)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

objeto_perdido#

object_lost registers a callback function for when the Optical Sensor loses an object.

Usage:
optical.object_lost(callback, arg)

Parámetros

Descripción

callback

Una función que se llamará cuando se pierda un objeto.

arg

Opcional. Una tupla que se utiliza para pasar argumentos a la función de devolución de llamada.

 
def lower_lift():
  # Lower lift when Pin not in claw
  lift_motor.spin_to_position(0, DEGREES)

def main():
  # Place a Pin atop another Pin
  optical.object_lost(lower_lift)
  lift_motor.spin_for(REVERSE, 600, DEGREES)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)
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