Python específico para robots

Introducción

El parque infantil V5RC 25-26 Push Back incorpora métodos exclusivos para el diseño específico de este parque, incluyendo dos opciones de motor, sensor de visión con IA, sensor óptico y sensor de sistema de posicionamiento de juego (GPS).

Todos los métodos VEXcode VR estándar están disponibles para su uso en el entorno de pruebas V5RC 25-26 Push Back.

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

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.

• Obtenidos

  • 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.

Visión por IA: Captura y analiza objetos utilizando el sensor de visión por IA.

• Obtenidos

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

• Propiedades

  • 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 diversos sensores del robot.

• 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.

• GPS

  • x_position – Returns the current x coordinate of a GPS Sensor on the field.

  • y_position – Returns the current y coordinate of a GPS Sensor on the field.

  • heading – Returns the heading that the robot is currently facing based on the GPS Sensor’s readings from 0 to 359 degrees.

Los ejemplos de esta página utilizan la posición de inicio predeterminada del Playground.

Movimiento

Comportamiento

girar

spin spins a motor or motor group in the specified direction indefinitely.

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

motor	Dominio
intake_motor	intake_motor.spin(direction) — Intake Motors
conveyor_motor	conveyor_motor.spin(direction) — Conveyor Motors

Parámetros	Descripción
direction	The direction for the motor to spin: FORWARD — Spins the Conveyor up or the Intake in the intake direction. REVERSE — Spins the Conveyor down or the Intake in the outtake direction.

def main():
    # Pick up a second Block
    conveyor_motor.spin_for(FORWARD, 200, DEGREES)
    intake_motor.spin(FORWARD)
    drivetrain.drive_for(FORWARD, 350, MM)

# VR threads — Do not delete
vr_thread(main)

girar_para

spin_for spins a motor or motor group 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
intake_motor	intake_motor.spin_for(direction, distance, units, wait) — Intake Motors
conveyor_motor	conveyor_motor.spin_for(direction, distance, units, wait) — Conveyor Motors

Parámetros	Descripción
direction	The direction for the motor to spin: FORWARD – Spins the Conveyor up or the Intake in the intake direction. REVERSE – Spins the Conveyor down or the Intake in the outtake direction.
distance	La distancia que debe girar el motor como 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():
    # Pick up a second Block
    conveyor_motor.spin_for(FORWARD, 200, DEGREES)
    intake_motor.spin(FORWARD)
    drivetrain.drive_for(FORWARD, 350, MM)

# VR threads — Do not delete
vr_thread(main)

girar_a_posición

spin_to spins a motor or motor group 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
intake_motor	intake_motor.spin_to_position(angle, units, wait=True) — Intake Motors
conveyor_motor	conveyor_motor.spin_to_position(angle, units, wait=True) — Conveyor Motors

Parámetros	Descripción
angle	El ángulo específico o el número de vueltas que girará 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():
    # Pick up a second Block
    conveyor_motor.spin_to_position(150, DEGREES)
    intake_motor.spin(FORWARD)
    drivetrain.drive_for(FORWARD, 350, MM)

# VR threads — Do not delete
vr_thread(main)

detener

stop stops a motor or motor group from spinning.

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

motor	Dominio
intake_motor	intake_motor.stop() — Intake Motors
conveyor_motor	conveyor_motor.stop() — Conveyor Motors

Parámetros	Descripción
	Este método no tiene parámetros.

def main():
    # Pick up a second Block
    conveyor_motor.spin_for(FORWARD, 200, DEGREES)
    intake_motor.spin(FORWARD)
    drivetrain.drive_for(FORWARD, 350, MM)
    intake_motor.stop()

# VR threads — Do not delete
vr_thread(main)

Mutadores

posición_de_establecer

set_position sets a motor’s or motor group’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
intake_motor	intake_motor.set_position(position, units) — Intake Motors
conveyor_motor	conveyor_motor.set_position(position, units) — Conveyor Motors

Parámetros	Descripción
position	El número entero específico al que se debe configurar el codificador del motor.
units	The unit that represents the angle to rotate to: DEGREES TURNS

def main():
    # Pick up a second Block
    conveyor_motor.set_position(-150, DEGREES)
    conveyor_motor.spin_to_position(0, DEGREES)
    intake_motor.spin(FORWARD)
    drivetrain.drive_for(FORWARD, 350, MM)

# VR threads — Do not delete
vr_thread(main)

establecer_velocidad

set_velocity sets the speed of a motor or motor group.

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

motor	Dominio
intake_motor	intake_motor.set_velocity(velocity, units) — Intake Motors
conveyor_motor	conveyor_motor.set_velocity(velocity, units) — Conveyor Motors

Parámetros	Descripción
velocity	La velocidad a la que girará el motor V5, que oscila entre 0 y 100.
units	The unit that represents the new velocity: PERCENT

def main():
    # Pick up a second Block
    conveyor_motor.set_velocity(90, PERCENT)
    conveyor_motor.spin_for(FORWARD, 200, DEGREES)
    intake_motor.spin(FORWARD)
    drivetrain.drive_for(FORWARD, 400, MM)

# VR threads — Do not delete
vr_thread(main)

establecer_tiempo_de_espera

set_timeout sets a time limit for a motor’s or motor group’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
intake_motor	intake_motor.set_timeout(value, units) — Intake Motors
conveyor_motor	conveyor_motor.set_timeout(value, units) — Conveyor Motors

Parámetros	Descripción
value	El tiempo que el motor esperará antes de detenerse.
units	The unit to represent the timeout: SECONDS MSEC — milliseconds

def main():
    # Pick up a second Block
    conveyor_motor.set_timeout(0.5, SECONDS)
    conveyor_motor.spin_to_position(1000, DEGREES)
    intake_motor.spin(FORWARD)
    drivetrain.drive_for(FORWARD, 400, MM)

# VR threads — Do not delete
vr_thread(main)

Getters

está_hecho

is_done returns a Boolean indicating whether the specified motor or motor group 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
intake_motor	intake_motor.is_done() — Intake Motors
conveyor_motor	conveyor_motor.is_done() — Conveyor Motors

Parámetros	Descripción
	Este método no tiene parámetros.

def main():
    # Pick up a second Block
    conveyor_motor.spin_to_position(300, DEGREES, wait=False)
    wait(0.1, SECONDS)
    while not conveyor_motor.is_done():
        drivetrain.drive(FORWARD)
        intake_motor.spin(FORWARD)
        wait(5, MSEC)
    drivetrain.stop()
    intake_motor.stop()

# VR threads — Do not delete
vr_thread(main)

está_girando

is_spinning returns a Boolean indicating whether the specified motor or motor group 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
intake_motor	intake_motor.is_spinning() — Intake Motors
conveyor_motor	conveyor_motor.is_spinning() — Conveyor Motors

Parámetros	Descripción
	Este método no tiene parámetros.

def main():
    # Pick up a second Block
    conveyor_motor.spin_to_position(300, DEGREES, wait=False)
    wait(0.1, SECONDS)
    while conveyor_motor.is_spinning():
        drivetrain.drive_for(FORWARD, 200, MM)
        intake_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

posición

position returns the total distance the specified motor or motor group has rotated.

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

motor	Dominio
intake_motor	intake_motor.position(units) — Intake Motors
conveyor_motor	conveyor_motor.position(units) — Conveyor Motors

Parámetros	Descripción
units	The units that represent the motor’s position: DEGREES TURNS

def main():
    # Pick up a second Block
    while conveyor_motor.position(DEGREES) < 150:
        conveyor_motor.spin(FORWARD)
        wait(2, MSEC)
    conveyor_motor.stop()
    intake_motor.spin(FORWARD)
    drivetrain.drive_for(FORWARD, 400, MM)

# VR threads — Do not delete
vr_thread(main)

velocidad

velocity returns the current rotational speed of the motor or motor group.

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

motor	Dominio
intake_motor	intake_motor.velocity(units) — Intake Motors
conveyor_motor	conveyor_motor.velocity(units) — Conveyor Motors

Parámetros	Descripción
units	The unit that represent the motor’s position: PERCENT

def main():
    # Pick up a second block
    conveyor_motor.set_velocity(100, PERCENT)
    conveyor_motor.spin_to_position(300, DEGREES, wait=False)
    wait(0.2, SECONDS)
    brain.screen.print(conveyor_motor.velocity(PERCENT))
    intake_motor.spin(FORWARD)
    drivetrain.drive_for(FORWARD, 400, MM)

# VR threads — Do not delete
vr_thread(main)

Visión por IA

Getters

tomar_instantánea

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

La tupla almacena objetos ordenados de mayor a menor ancho, comenzando en el índice#propertiesSe puede acceder a las propiedades de cada objeto mediante su índice. Se devuelve una tupla vacía si no se detectan objetos coincidentes.

Usage:
ai_vision.take_snapshot(signature)

Parámetros	Descripción
signature	Which signature to get data of. The only available signature is: AiVision.ALL_AIOBJS - Detects Red and Blue Blocks.

def main():
    # If an object is detected, pick it up
    conveyor_motor.spin_for(FORWARD, 200, DEGREES)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            intake_motor.spin(FORWARD)
            drivetrain.drive(FORWARD)
            while not bumper.pressing():
                wait(2, MSEC)
            drivetrain.stop()
            break

# VR threads — Do not delete
vr_thread(main)

Propiedades

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 AI Vision Sensor’s view at the time that take_snapshot was used. The AI Vision Sensor has a resolution of 320 by 240 pixels.

.ancho

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

def main():
    # If an object is detected, approach and pick it up
    conveyor_motor.spin_for(FORWARD, 200, DEGREES)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            if ai_objects[0].width > 65:
                drivetrain.stop()
                break
            else:
                intake_motor.spin(FORWARD)
                drivetrain.drive(FORWARD)

# VR threads — Do not delete
vr_thread(main)

.altura

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

def main():
    # If an object is detected, approach and pick it up
    conveyor_motor.spin_for(FORWARD, 200, DEGREES)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            if ai_objects[0].height > 55:
                drivetrain.stop()
                break
            else:
                intake_motor.spin(FORWARD)
                drivetrain.drive(FORWARD)

# VR threads — Do not delete
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():
    # Pick up a Block from the top left group
    conveyor_motor.spin_for(FORWARD, 200, DEGREES)
    drivetrain.turn_for(LEFT, 80, DEGREES)
    drivetrain.drive_for(FORWARD, 200, MM)
    drivetrain.set_turn_velocity(20, PERCENT)
    drivetrain.turn(LEFT)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            if 140 < ai_objects[0].centerX < 180:
                intake_motor.spin(FORWARD)
                drivetrain.drive(FORWARD)
                while not bumper.pressing():
                    wait(2, MSEC)
                drivetrain.stop()

# VR threads — Do not delete
vr_thread(main)

.centroY

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

def main():
    # If an object is detected, approach and pick it up
    conveyor_motor.spin_for(FORWARD, 200, DEGREES)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            if ai_objects[0].centerY > 140:
                drivetrain.stop()
                break
            else:
                intake_motor.spin(FORWARD)
                drivetrain.drive(FORWARD)

# VR threads — Do not delete
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():
    # Pick up a Block from the top left group
    conveyor_motor.spin_for(FORWARD, 200, DEGREES)
    drivetrain.turn_for(LEFT, 80, DEGREES)
    drivetrain.drive_for(FORWARD, 300, MM)
    drivetrain.set_turn_velocity(20, PERCENT)
    drivetrain.turn(RIGHT)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            if 100 < ai_objects[0].originX < 140:
                intake_motor.spin(FORWARD)
                drivetrain.drive(FORWARD)
                while not bumper.pressing():
                    wait(2, MSEC)
                drivetrain.stop()

# VR threads — Do not delete
vr_thread(main)

.origenY

.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():
    # If an object is detected, approach and pick it up
    conveyor_motor.spin_for(FORWARD, 200, DEGREES)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            if ai_objects[0].originY > 120:
                drivetrain.stop()
                break
            else:
                intake_motor.spin(FORWARD)
                drivetrain.drive(FORWARD)

# VR threads — Do not delete
vr_thread(main)

.identificación

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

Clasificación de IA	identificación	Firma
Bloque Azul	1	GameElements.BLUE_BLOCK
Bloque rojo	2	GameElements.RED_BLOCK

def main():
    # Pick up a Red Block from the top left group
    conveyor_motor.spin_for(FORWARD, 200, DEGREES)
    drivetrain.turn_for(LEFT, 80, DEGREES)
    drivetrain.drive_for(FORWARD, 300, MM)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            drivetrain.drive(FORWARD)
            if (ai_objects[0].id) == 2:
                intake_motor.spin(FORWARD)
                while not bumper.pressing():
                    wait(2, MSEC)
                drivetrain.stop()
                break

# VR threads — Do not delete
vr_thread(main)

Detección

Óptico

is_near_object

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():
    # Move the preloaded Block to the top of the Conveyor
    conveyor_motor.spin(FORWARD)
    while not optical.is_near_object():
        wait(2, MSEC)
    conveyor_motor.stop()

# VR threads — Do not delete
vr_thread(main)

color

color returns the color detected by the Optical Sensor:

Color devuelto:
NONE – No color detected. RED GREEN BLUE YELLOW ORANGE PURPLE CYAN

Usage:
optical.color()

Parámetros	Descripción
	Este método no tiene parámetros.

def main():
    # Pick up and move a Blue Block to the top of the Conveyor
    conveyor_motor.spin_for(FORWARD, 200, DEGREES)
    intake_motor.spin(FORWARD)
    drivetrain.drive_for(FORWARD, 360, MM)
    conveyor_motor.spin(FORWARD)
    while not optical.color() == BLUE:
        wait(2, MSEC)
    conveyor_motor.stop()

# VR threads — Do not delete
vr_thread(main)

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():
    # Move the preloaded Block to the top of the Conveyor
    conveyor_motor.spin(FORWARD)
    while not 0 < optical.brightness():
        wait(2, MSEC)
    conveyor_motor.stop()

# VR threads — Do not delete
vr_thread(main)

matiz

hue returns the hue detected by the Optical Sensor.

Los valores de tono van de 0 a 359 grados, lo que corresponde a las posiciones en la rueda de colores que se muestra a continuación.

Usage:
optical.hue()

Parámetros	Descripción
	Este método no tiene parámetros.

def main():
    # Pick up and move a Blue Block to the top of the Conveyor
    conveyor_motor.spin_for(FORWARD, 200, DEGREES)
    intake_motor.spin(FORWARD)
    drivetrain.drive_for(FORWARD, 360, MM)
    conveyor_motor.spin(FORWARD)
    while not 220 < optical.hue() < 260:
        wait(2, MSEC)
    conveyor_motor.stop()

# VR threads — Do not delete
vr_thread(main)

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 ready_block():
  # Stop the conveyor when Block is at the Sensor
  conveyor_motor.stop()

def main():
  # Move the preloaded Block near the top of the Conveyor
  conveyor_motor.spin(FORWARD)
  optical.object_detected(ready_block)

# VR threads — Do not delete
vr_thread(main)

objeto_perdido

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

Usage:
optical.object_lost(callback, arg)

Parámetros	Descripción
callback	Una función que se llamará cuando se pierda un objeto detectado.
arg	Opcional. Una tupla que se utiliza para pasar argumentos a la función de devolución de llamada.

def ready_block():
  # Stop the conveyor when Block is at the top
  conveyor_motor.stop()

def main():
  # Move the preloaded Block to the top of the Conveyor
  conveyor_motor.spin(FORWARD)
  optical.object_lost(ready_block)

# VR threads — Do not delete
vr_thread(main)

GPS

posición_x

x_position returns the current x coordinate of a GPS (Game Positioning System™) Sensor on the field.

Usage:
gps.x_position(units)

Parámetros	Descripción
unidades	The unit of the offset value: INCHES MM

def main():
    # Pick up a second Block
    conveyor_motor.spin_for(FORWARD, 200, DEGREES)
    intake_motor.spin(FORWARD)
    drivetrain.drive(FORWARD)
    while not gps.x_position(MM) > -795:
        wait(2, MSEC)
    drivetrain.stop()

# VR threads — Do not delete
vr_thread(main)

posición_y

y_position returns the current y coordinate of a GPS (Game Positioning System™) Sensor on the field.

Usage:
gps.y_position(units)

Parámetros	Descripción
unidades	The unit of the offset value: INCHES MM

def main():
    # Pick up a second Block
    conveyor_motor.spin_for(FORWARD, 200, DEGREES)
    intake_motor.spin(FORWARD)
    drivetrain.drive(FORWARD)
    while not -450 > gps.y_position(MM):
        wait(2, MSEC)
    drivetrain.stop()

# VR threads — Do not delete
vr_thread(main)

título

heading returns the heading that the robot is currently facing based on the GPS (Game Positioning System™) Sensor’s readings from 0 to 359 degrees.

Usage:
gps.heading()

Parámetros	Descripción
	Este método no tiene parámetros.

def main():
    # Score the preloaded Block into a Center Goal
    drivetrain.set_turn_velocity(30, PERCENT)
    drivetrain.turn(LEFT)
    while not 40 > gps.heading():
        wait(2, MSEC)
    drivetrain.drive_for(FORWARD, 1000, MM)
    drivetrain.turn(RIGHT)
    while not gps.heading() > 310:
        wait(2, MSEC)
    drivetrain.drive_for(REVERSE, 400, MM)
    conveyor_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)