Python específico para robots

Introducción

El robot Hero Bot, Disco, incluye un grupo motor, un rastreador de línea, un sensor óptico y un sensor de sistema de posicionamiento de juego (GPS).

Todos los métodos VEXcode VR estándar están disponibles para su uso en el V5RC 22-23 Spin Up Playground.

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

Sistema de transmisión: Mover y girar el robot.

• Comportamiento

  • drive — Moves the robot forward or reverse forever.

  • drive_for — Moves the robot forward or reverse for a specific distance.

  • turn — Turns the robot left or right forever.

  • turn_for — Turns the robot left or right for a specific number of degrees.

  • turn_to_heading — Turns the robot to face a specific heading from -359 to 359 degrees.

  • turn_to_rotation — Turns the robot to a specific rotation.

  • stop — Stops the robot’s movement.

• Mutadores

  • set_heading — Changes the robot’s current heading to a new heading.

  • set_rotation — Changes the robot’s current rotation to a new rotation.

  • set_timeout — Sets how much time the robot will try to finish a movement.

  • set_drive_velocity — Tells the robot how fast to drive.

  • set_turn_velocity — Tells the robot how fast to turn.

• Obtenidos

  • heading — Returns the robot’s current heading from 0 to 359.99 degrees.

  • rotation — Returns the robot’s current rotation.

  • is_done — Returns whether the robot is finished moving, as a Boolean value.

  • is_moving — Returns whether the robot is moving, as a Boolean value.

  • velocity — Returns how fast the robot is driving.

Movimiento: Mueve y rastrea el grupo motor del robot.

• Comportamiento

  • spin — Spins a motor group forward or reverse forever.

  • spin_for — Spins a motor group for a specific distance.

  • spin_to_position — Spins a motor group to a specific position.

  • stop — Stops a motor group from spinning.

• Mutadores

  • set_position — Changes the motor group’s current position to a new value.

  • set_velocity — Tells a motor group how fast to spin.

  • set_timeout — Sets how much time a motor group will try to finish a movement.

• Obtenidos

  • is_done — Returns whether the motor group is finished moving, as a Boolean value.

  • is_spinning — Returns whether the motor group is spinning, as a Boolean value.

  • position — Returns the motor group’s current position.

  • velocity — Returns how fast the motor group is spinning.

Consola: Imprime en la consola y monitoriza los valores.

• Imprimir

  • brain.screen.print — Displays text, numbers, or variable values in the Console.

  • brain.screen.next_row — Moves the Console cursor to the start of the next row.

  • brain.screen.clear_screen — Clears all rows from the Console.

• Monitor

  • monitor_variable — Adds one or more predefined variables to the Monitor tab.

  • monitor_sensor — Adds one or more sensor values to the Monitor tab.

Detección: Utilice los diversos sensores del robot.

• Óptico

  • is_near_object – Returns whether the Optical Sensor detects an object within range.

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

  • brightness – Returns the amount of light reflected from the object.

  • hue – Returns the hue detected by the Optical Sensor.

  • object_detected – Registers a function to be called when the Optical Sensor detects an object.

  • object_lost – Registers a function to be called 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.

• Seguimiento de la línea

  • reflectivity – Returns the amount of light reflected from the surface.

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

Tren de transmisión

El sistema de transmisión controla cómo se desplaza y gira el robot de realidad virtual. Este sistema puede avanzar o retroceder, girar a la izquierda o a la derecha, orientarse y seguir su propio movimiento de rotación.

Comportamiento

conducir

drive moves the robot forward or reverse forever. The robot will continue to move until it is given another action, like turning or stopping.

Usage:
drivetrain.drive(direction)

Parámetros	Descripción
direction	The direction the robot moves: FORWARD or REVERSE.

def main():
    # Drive forward then stop
    drivetrain.drive(FORWARD)
    wait(2, SECONDS)
    drivetrain.stop()

# VR threads — Do not delete
vr_thread(main)

impulso_por

drive_for moves the robot forward or reverse for a specific distance. The project will wait until the robot is done moving before the next line of code runs.

Usage:
drivetrain.drive_for(direction, distance, units, wait)

Parámetros	Descripción
direction	The direction the robot moves: FORWARD or REVERSE.
distance	The distance the robot drives. This can be an integer or decimal (float).
units	Optional. The distance unit: INCHES (default) or MM (millimeters).
wait	Optional. wait=True (default) makes the project wait until the robot is done moving before the next line of code runs. wait=False makes the next line of code run right away.

def main():
    # Drive forward and backward
    drivetrain.drive_for(FORWARD, 200, MM)
    drivetrain.drive_for(REVERSE, 200, MM)

# VR threads — Do not delete
vr_thread(main)

doblar

turn turns the robot left or right forever. The robot will continue to turn until it is given another action, like driving or stopping.

Usage:
drivetrain.turn(direction)

Parámetros	Descripción
direction	The direction the robot turns: LEFT or RIGHT.

def main():
    # Turn right and left, then stop
    drivetrain.turn(RIGHT)
    wait(2, SECONDS)
    drivetrain.turn(LEFT)
    wait(2, SECONDS)
    drivetrain.stop()

# VR threads — Do not delete
vr_thread(main)

turno_para

turn_for turns the robot left or right for a specific number of degrees. The turn is relative to the current position of the robot. The project will wait until the robot is done turning before the next line of code runs.

Usage:
drivetrain.turn_for(direction, angle, units, wait)

Parámetros	Descripción
direction	The direction the robot turns: LEFT or RIGHT.
angle	The number of degrees the robot turns. This can be an integer or decimal (float).
units	Optional. The rotation unit: DEGREES (default).
wait	Optional. wait=True (default) makes the project wait until the robot is done turning before the next line of code runs. wait=False makes the next line of code run right away.

def main():
    # Turn the robot right and left
    drivetrain.turn_for(RIGHT, 90, DEGREES)
    wait(1, SECONDS)
    drivetrain.turn_for(LEFT, 90, DEGREES)

# VR threads — Do not delete
vr_thread(main)

girar_hacia_rumbo

A heading is the direction the robot is facing, measured in degrees. turn_to_heading turns the robot to face a specific heading from -359 to 359 degrees. The robot will turn the shortest direction to reach the target heading.

La dirección inicial del robot es de 0 grados.

El proyecto esperará a que el robot termine de girar antes de ejecutar la siguiente línea de código.

Usage:
drivetrain.turn_to_heading(angle, units, wait)

Parámetros	Descripción
angle	The direction the robot should face, in degrees. This can be an integer or decimal (float) from -359 to 359.
units	Optional. The rotation unit: DEGREES (default).
wait	Optional. wait=True (default) makes the project wait until the robot is done turning before the next line of code runs. wait=False makes the next line of code run right away.

def main():
    # Turn to face the cardinal directions
    drivetrain.turn_to_heading(90, DEGREES)
    wait(1, SECONDS)
    drivetrain.turn_to_heading(180, DEGREES)
    wait(1, SECONDS)
    drivetrain.turn_to_heading(270, DEGREES)
    wait(1, SECONDS)
    drivetrain.turn_to_heading(0, DEGREES)

# VR threads — Do not delete
vr_thread(main)

girar_a_rotación

turn_to_rotation turns the robot to a specific rotation.

Rotation is how much the robot has turned, measured in degrees. At the beginning of a project, the rotation value is set to 0 degrees. Rotation can also be set using the set_rotation method.

Los valores de rotación son absolutos. Esto significa que la dirección del giro depende de la rotación actual del robot. Girar a la derecha aumenta la rotación, y girar a la izquierda la disminuye.

Por ejemplo, si el robot comienza en 0 grados y se le da una rotación de 720 grados, girará dos veces a la derecha. Si luego se le da una rotación de 360 ​​grados, girará una vez a la izquierda, ya que 360 ​​es menor que 720.

El proyecto esperará a que el robot termine de girar antes de ejecutar la siguiente línea de código.

Usage:
drivetrain.turn_to_rotation(angle, units, wait)

Parámetros	Descripción
angle	The rotation value, in degrees, that the robot will turn to. This can be an integer or decimal (float).
units	Optional. The rotation unit: DEGREES (default).
wait	Optional. wait=True (default) makes the project wait until the robot is done turning before the next line of code runs. wait=False makes the next line of code run right away.

def main():
    # Turn left, then spin in a circle
    # clockwise and face right
    drivetrain.turn_to_rotation(-90, DEGREES)
    wait(1, SECONDS)
    drivetrain.turn_to_rotation(450, DEGREES)

# VR threads — Do not delete
vr_thread(main)

detener

stop stops the robot’s movement.

Usage:
drivetrain.stop()

Parámetros	Descripción
	Este método no tiene parámetros.

def main():
    # Drive forward then stop
    drivetrain.drive(FORWARD)
    wait(2, SECONDS)
    drivetrain.stop()

# VR threads — Do not delete
vr_thread(main)

Mutadores

establecer_encabezado

A heading is the direction the robot is facing, measured in degrees. set_heading changes the robot’s current heading to a new heading value.

Por ejemplo, si el robot ha girado para mirar hacia la derecha, al establecer la orientación a 0 grados, esa posición mirando hacia la derecha se convierte en la nueva posición de 0 grados. Entonces, el robot puede girar a otras posiciones en función de esa nueva orientación.

Usage:
drivetrain.set_heading(heading, units)

Parámetros	Descripción
heading	The heading value, in degrees, to set for the robot. This can be an integer or decimal (float).
units	Optional. The heading unit: DEGREES (default).

def main():
    # Face the new 0 degrees
    drivetrain.set_heading(90, DEGREES)
    drivetrain.turn_to_heading(0, DEGREES)

# VR threads — Do not delete
vr_thread(main)

establecer_rotación

Rotation is how much the robot has turned, measured in degrees. At the beginning of a project, the rotation value is set to 0 degrees. set_rotation changes the robot’s current rotation to a new value.

Por ejemplo, si el robot ha dado dos vueltas completas a la derecha, su valor de rotación será de 720 grados. Si se establece la rotación en 0 grados, esta volverá a su valor original. A partir de ahí, el robot podrá girar según ese nuevo valor.

Usage:
drivetrain.set_rotation(rotation, units)

Parámetros	Descripción
rotation	The rotation value, in degrees, to set for the robot. This can be an integer or decimal (float).
units	Optional. The rotation unit: DEGREES (default).

def main():
    # Spin counterclockwise two times
    drivetrain.set_rotation(720, DEGREES)
    drivetrain.turn_to_rotation(0, DEGREES)

# VR threads — Do not delete
vr_thread(main)

establecer_tiempo_de_espera

set_timeout sets how much time the robot will try to finish a movement. If the robot cannot finish in that time, it will stop trying and move on to the next line of code. This keeps the robot from getting stuck on a movement.

Usage:
drivetrain.set_timeout(value, units)

Parámetros	Descripción
value	The amount of time the robot can try to finish a movement. This can be a positive integer or decimal (float).
units	The time unit: SECONDS or MSEC (milliseconds).

def main():
    # Turn right after driving forward
    drivetrain.set_timeout(1, SECONDS)
    drivetrain.drive_for(FORWARD, 25, INCHES)
    drivetrain.turn_for(RIGHT, 90)

# VR threads — Do not delete
vr_thread(main)

establecer_velocidad_de_conducción

set_drive_velocity tells the robot how fast to drive. A higher percentage makes the robot drive faster and a lower percentage makes the robot drive slower.

Todos los proyectos comienzan con el robot conduciendo al 50% de su velocidad por defecto.

Nota: Una mayor velocidad hace que el robot se desplace más rápido, pero puede ser menos preciso. Una menor velocidad hace que el robot se desplace más despacio, pero puede ser más preciso.

Usage:
drivetrain.set_drive_velocity(velocity, units)

Parámetros	Descripción
velocity	The velocity to drive with from 0% to 100%. This can be an integer or decimal (float).
units	Optional. The velocity unit: PERCENT (default).

def main():
    # Drive forward at different velocities
    # Default velocity
    drivetrain.drive_for(FORWARD, 150, MM)
    wait(1, SECONDS)
    # Drive slower
    drivetrain.set_drive_velocity(20, PERCENT)
    drivetrain.drive_for(FORWARD, 150, MM)
    wait(1, SECONDS)
    # Drive faster
    drivetrain.set_drive_velocity(100, PERCENT)
    drivetrain.drive_for(FORWARD, 150, MM)

# VR threads — Do not delete
vr_thread(main)

establecer_velocidad_de_giro

set_turn_velocity tells the robot how fast to turn. A higher percentage makes the robot turn faster and a lower percentage makes the robot turn slower.

Todos los proyectos comienzan con el robot girando al 50% de su velocidad por defecto.

Nota: Una mayor velocidad hace que el robot gire más rápido, pero puede ser menos preciso. Una menor velocidad hace que el robot gire más despacio, pero puede ser más preciso.

Usage:
drivetrain.set_turn_velocity(velocity, units)

Parámetros	Descripción
velocity	The velocity to turn with from 0% to 100%. This can be an integer or decimal (float).
units	Optional. The velocity unit: PERCENT (default).

def main():
    # Turn at different velocities
    # Default velocity
    drivetrain.turn_for(RIGHT, 120, DEGREES)
    wait(1, SECONDS)
    # Turn slower
    drivetrain.set_turn_velocity(20, PERCENT)
    drivetrain.turn_for(RIGHT, 120, DEGREES)
    wait(1, SECONDS)
    # Turn faster
    drivetrain.set_turn_velocity(100, PERCENT)
    drivetrain.turn_for(RIGHT, 120, DEGREES)

# VR threads — Do not delete
vr_thread(main)

Getters

título

A heading is the direction the robot is facing, measured in degrees. heading returns the robot’s current heading from 0 to 359.99 degrees.

La dirección inicial del robot es de 0 grados.

Usage:
drivetrain.heading(units)

Parámetros	Descripción
units	Optional. The heading unit: DEGREES (default).

def main():
    # Display the heading after turning
    drivetrain.turn_for(RIGHT, 450, DEGREES)
    brain.screen.print("Heading: ")
    brain.screen.print(drivetrain.heading(DEGREES))

# VR threads — Do not delete
vr_thread(main)

rotación

Rotation is how much the robot has turned, measured in degrees. At the beginning of a project, the rotation value is set to 0 degrees. rotation returns the robot’s current rotation.

Girar a la derecha aumenta la rotación, y girar a la izquierda la disminuye. Por ejemplo, dar dos vueltas completas a la derecha produce una rotación de 720 grados.

Usage:
drivetrain.rotation(units)

Parámetros	Descripción
units	Optional. The rotation unit: DEGREES (default).

def main():
    # Display the rotation after turning
    drivetrain.turn_for(RIGHT, 450, DEGREES)
    brain.screen.print("Rotation: ")
    brain.screen.print(drivetrain.rotation(DEGREES))

# VR threads — Do not delete
vr_thread(main)

está_hecho

is_done returns whether the robot is finished moving, as a Boolean value. This can be used to control the timing of other behaviors based on the robot’s movement.

• True — The robot is finished moving.

• False — The robot is still moving.

This method works together with the following Drivetrain methods that have the wait parameter: drive_for, turn_for, turn_to_heading, and turn_to_rotation.

Usage:
drivetrain.is_done()

Parámetros	Descripción
	Este método no tiene parámetros.

se está moviendo

is_moving returns whether the robot is moving, as a Boolean value. This can be used to control the timing of other behaviors based on the robot’s movement.

• True — The robot is moving.

• False — The robot is not moving.

Usage:
drivetrain.is_moving()

Parámetros	Descripción
	Este método no tiene parámetros.

velocidad

velocity returns how fast the robot is driving, as a percentage from -100% to 100%.

Usage:
drivetrain.velocity(units)

Parámetros	Descripción
units	Optional. The velocity unit: PERCENT (default).

Ejemplo

def main():
    # Display the velocity after driving
    drivetrain.drive_for(FORWARD, 150, MM)
    brain.screen.print("Velocity: ")
    brain.screen.print(drivetrain.velocity(PERCENT))

Movimiento

Disco utiliza el grupo motor de entrada para hacer girar las ruedas de entrada, de modo que los discos puedan ser recogidos y puntuados. Estas mismas ruedas también pueden hacer girar los rodillos de campo cuando entran en contacto con ellos.

Las descripciones de las direcciones explican cómo cada dirección mueve el grupo motor de admisión en el Disco.

Comportamiento

girar

spin spins a motor group forward or reverse forever. The motor group will continue to spin until it is given another action, like spinning in a different direction or stopping.

Usage:
intake_motor_group.spin(direction)

Parámetros	Descripción
direction	The direction the motor group spins: FORWARD — Spins in the intake direction. REVERSE — Spins in the outtake direction.

def main():
    # Spin the intake forward then stop
    intake_motor_group.spin(FORWARD)
    wait(0.5, SECONDS)
    intake_motor_group.stop()

# VR threads — Do not delete
vr_thread(main)

girar_para

spin_for spins a motor group for a specific distance. The spin is relative to the current position of the motor group. The project will wait until the motor group is done spinning before the next line of code runs.

Usage:
intake_motor_group.spin_for(direction, distance, units, wait)

Parámetros	Descripción
direction	The direction the motor group spins: FORWARD — Spins in the intake direction. REVERSE — Spins in the outtake direction.
distance	The distance the motor group spins. DEGREES use integers. TURNS can use integers or decimals.
units	Optional. The distance unit: DEGREES (default) or TURNS.
wait	Optional. wait=True (default) — Makes the project wait until the motor group is done spinning before the next line of code runs. wait=False — Makes the next line of code run right away.

def main():
    # Spin the intake forward then stop
    intake_motor_group.spin_for(FORWARD, 1, TURNS)

# VR threads — Do not delete
vr_thread(main)

girar_a_posición

spin_to_position spins a motor group to a specific position.

A motor group’s position is how far it has spun, measured in DEGREES or TURNS. One turn is equal to 360 degrees. At the beginning of a project, the motor group position is set to 0 degrees. The motor group position can also be set using the set_position method.

Los valores de posición son absolutos. Esto significa que la dirección del giro depende de la posición actual del grupo motor.

Por ejemplo, si el grupo motor comienza en 0 grados y gira hasta una posición de 720 grados, girará dos vueltas hacia adelante. Si luego gira hasta una posición de 360 ​​grados, girará una vuelta hacia atrás, ya que 360 ​​es menor que 720.

Usage:
intake_motor_group.spin_to_position(angle, units, wait)

Parámetros	Descripción
angle	The position value the motor group will spin to. DEGREES use integers. TURNS can use integers or decimals.
units	Optional. The position unit: DEGREES (default) or TURNS.
wait	Optional. wait=True (default) — Makes the project wait until the motor group is done spinning before the next line of code runs. wait=False — Makes the next line of code run right away.

def main():
    # Spin the intake forward then stop
    intake_motor_group.spin_to_position(55, DEGREES)

# VR threads — Do not delete
vr_thread(main)

detener

stop stops a motor group from spinning.

Usage:
intake_motor_group.stop()

Parámetros	Descripción
	Este método no tiene parámetros.

def main():
    # Spin the intake forward then stop
    intake_motor_group.spin(FORWARD)
    wait(0.5, SECONDS)
    intake_motor_group.stop()

# VR threads — Do not delete
vr_thread(main)

Mutadores

posición_de_establecer

A motor group’s position is how far it has spun, measured in DEGREES or TURNS. One turn is equal to 360 degrees. set_position changes the motor group’s current position to a new value.

Por ejemplo, si un grupo de motores ha girado 180 grados, al ajustar la posición a 0 grados, dicha posición volverá a su estado original. A continuación, el grupo de motores podrá girar a posiciones que se ajusten a ese nuevo valor.

Usage:
intake_motor_group.set_position(position, units)

Parámetros	Descripción
position	The position value to set for the motor group. DEGREES use integers. TURNS can use integers or decimals.
units	Optional. The position unit: DEGREES (default) or TURNS.

def main():
    # Spin the intake forward then stop
    intake_motor_group.set_position(90, DEGREES)
    intake_motor_group.spin_to_position(0, DEGREES)

# VR threads — Do not delete
vr_thread(main)

establecer_velocidad

set_velocity tells a motor group how fast to spin. A higher percentage makes the motor group spin faster and a lower percentage makes the motor group spin slower.

Cada proyecto comienza con cada grupo de motores girando al 50% de su velocidad máxima por defecto.

Nota: Una mayor velocidad hace que el grupo motor gire más rápido, pero puede ser menos preciso. Una menor velocidad hace que el grupo motor gire más lento, pero puede ser más preciso.

Usage:
intake_motor_group.set_velocity(velocity, units)

Parámetros	Descripción
velocity	The velocity to spin with from 0% to 100%. This can be an integer or decimal (float).
units	The velocity unit: PERCENT.

def main():
    # Spin the intake forward then stop
    intake_motor_group.set_velocity(75, PERCENT)
    intake_motor_group.spin_to_position(180, DEGREES)

# VR threads — Do not delete
vr_thread(main)

establecer_tiempo_de_espera

set_timeout sets how much time a motor group will try to finish a movement. If the motor group cannot finish in that time, it will stop trying and move on to the next line of code. This keeps the motor group from getting stuck on a movement.

Usage:
intake_motor_group.set_timeout(value, units)

Parámetros	Descripción
value	The amount of time the motor group can try to finish a movement. This can be a positive integer or decimal (float).
units	The time unit: SECONDS or MSEC (milliseconds).

def main():
    # Spin the intake forward then stop
    intake_motor_group.set_timeout(2, SECONDS)
    intake_motor_group.spin_to_position(270, DEGREES)

# VR threads — Do not delete
vr_thread(main)

Getters

está_hecho

is_done returns whether the motor group is finished moving, as a Boolean value. This can be used to control the timing of other behaviors based on the motor group’s movement.

• True — The motor group is finished moving.

• False — The motor group is still moving.

This method works together with the following Motion methods that have the wait parameter: spin_for and spin_to_position.

Usage:
intake_motor_group.is_done()

Parámetros	Descripción
	Este método no tiene parámetros.

está_girando

is_spinning returns whether the motor group is spinning, as a Boolean value. This can be used to control the timing of other behaviors based on the motor group’s movement.

• True — The motor group is spinning.

• False — The motor group is not spinning.

This method works together with the following Motion methods that have the wait parameter: spin_for and spin_to_position.

Usage:
intake_motor_group.is_spinning()

Parámetros	Descripción
	Este método no tiene parámetros.

posición

A motor group’s position is how far it has spun, measured in DEGREES or TURNS. One turn is equal to 360 degrees. position returns the motor group’s current position.

Al inicio del proyecto, la posición del grupo motor se establece en 0 grados. Si el grupo motor gira una vuelta completa hacia adelante, la posición será de 360 ​​grados o 1 vuelta. Si el grupo motor gira en la dirección opuesta, la posición será negativa.

Usage:
intake_motor_group.position(units)

Parámetros	Descripción
units	The unit to return the motor group position in: DEGREES or TURNS.

velocidad

velocity returns how fast the motor group is spinning.

Un valor positivo indica que el grupo motor gira hacia adelante. Un valor negativo indica que el grupo motor gira hacia atrás.

Usage:
intake_motor_group.velocity(units)

Parámetros	Descripción
units	The velocity unit to return: PERCENT.

Consola

La consola muestra texto, números y valores de variables mientras se ejecuta un proyecto. Los métodos de la consola también permiten mover el cursor a una nueva fila, borrar la consola y agregar variables o valores de sensores a la pestaña Monitor.

Imprimir

pantalla del cerebro impresión

brain.screen.print displays text, numbers, or variable values in the Console using the current cursor position.

Use brain.screen.next_row when you want the next printed value to start on a new row.

Usage:
brain.screen.print(value)

Parámetros	Descripción
value	El texto, número o valor de variable que se mostrará en la consola.

def main():
    # Display a message in the Console
    brain.screen.print("Hello, robot!")

# VR threads — Do not delete
vr_thread(main)

pantalla.siguiente_fila

brain.screen.next_row moves the cursor to column 1 on the next row in the Console. The next value printed will appear on that row.

Usage:
brain.screen.next_row()

Parámetros	Descripción
	Este método no tiene parámetros.

def main():
    # Print on two rows
    brain.screen.print("Row 1")
    brain.screen.next_row()
    brain.screen.print("Row 2")

# VR threads — Do not delete
vr_thread(main)

pantalla.cerebro.pantalla_limpia

brain.screen.clear_screen clears all rows from the Console and moves the cursor back to Row 1.

Usage:
brain.screen.clear_screen()

Parámetros	Descripción
	Este método no tiene parámetros.

def main():
    # Display text, then clear it after two seconds
    brain.screen.print("This will disappear...")
    wait(2, SECONDS)
    brain.screen.clear_screen()

# VR threads — Do not delete
vr_thread(main)

Monitor

variable_de_monitor

monitor_variable adds one or more predefined variables to the Monitor tab in VEXcode. This lets you watch a variable’s value change while a project is running.

Variables must be global for monitor_variable to monitor them successfully. Provide each variable name as a string.

Usage:
monitor_variable(“variable”)
monitor_variable(“variable1”, “variable2”)

Parámetros	Descripción
variable	El nombre de una variable global predefinida que se desea monitorizar, especificado como una cadena de texto. Para monitorizar más de una variable, separe cada nombre con una coma.

def main():
    # Monitor the amount of loops
    global loops
    monitor_variable("loops")

    # Drive in a square 3 times
    for loops in range(12):
        drivetrain.turn_for(RIGHT, 90, DEGREES)
        drivetrain.drive_for(FORWARD, 150, MM)

# VR threads — Do not delete
vr_thread(main)

sensor_de_monitor

monitor_sensor adds one or more sensor values to the Monitor tab in VEXcode. This lets you watch sensor values change while a project is running.

Proporcione cada valor del sensor como una cadena de texto.

Usage:
monitor_sensor(“sensor”)
monitor_sensor(“sensor1”, “sensor2”)

Parámetros

Descripción

sensor

The sensor value to monitor, given as a string. To monitor more than one sensor value, separate each sensor value with a comma. Supported sensor identifiers include: Brain brain.timer.time Drivetrain drivetrain.is_done drivetrain.is_moving drivetrain.heading drivetrain.rotation drivetrain.velocity_rpm drivetrain.velocity_percent Intake Motor Group intake_motor_group.is_done intake_motor_group.is_spinning intake_motor_group.position_degrees intake_motor_group.position_turns intake_motor_group.velocity_rpm intake_motor_group.velocity_percent Fork Motor Group fork_motor_group.is_done fork_motor_group.is_spinning fork_motor_group.position_degrees fork_motor_group.position_turns fork_motor_group.velocity_rpm fork_motor_group.velocity_percent Bottom Distance Sensor bottom_distance.is_object_detected bottom_distance.object_distance_mm bottom_distance.object_distance_inches Left Distance Sensor left_distance.is_object_detected left_distance.object_distance_mm left_distance.object_distance_inches Center Distance Sensor center_distance.is_object_detected center_distance.object_distance_mm center_distance.object_distance_inches Right Distance Sensor right_distance.is_object_detected right_distance.object_distance_mm right_distance.object_distance_inches Line Trackers bottom_line_tracker.reflectivity middle_line_tracker.reflectivity top_line_tracker.reflectivity Roller Optical Sensor roller_optical.is_near_object roller_optical.color roller_optical.brightness roller_optical.hue Optical Sensor optical.is_near_object optical.color optical.brightness optical.hue GPS Sensor gps.position_mm gps.position_inches gps.heading Rotation Sensor rotation.angle rotation.position

def main():
    # Monitor the robot's heading
    monitor_sensor("drivetrain.heading")
    drivetrain.turn_for(RIGHT, 450, DEGREES)

# 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 within range.

• True – The Optical Sensor detects an object.

• False – The Optical Sensor does not detect an object.

Usage:
roller_optical.is_near_object()

Parámetros	Descripción
	Este método no tiene parámetros.

color

color returns an instance of a Color class, based on the detected hue value. These can be compared to predefined Color objects to create conditional statements.

Los colores posibles son:

• NONE

• RED - A hue value between 340° - 20°

• GREEN - A hue value between 80° - 140°

• BLUE - A hue value between 200° - 240°

• YELLOW - A hue value between 40° - 60°

• ORANGE - A hue value between 20° - 40°

• PURPLE - A hue value between 240° - 280°

• CYAN - A hue value between 140° - 200°

Note: The Optical Sensor is looking for hue ranges that match the specified color. For detecting specific hue ranges, see hue.

Usage:
roller_optical.color()

Parámetros	Descripción
	Este método no tiene parámetros.

brillo

brightness returns the amount of light reflected from the object as a decimal (float) representing a percent.

Un porcentaje más alto significa que se refleja más luz de vuelta al sensor óptico. Un porcentaje más bajo significa que se refleja menos luz.

Usage:
roller_optical.brightness()

Parámetros	Descripción
	Este método no tiene parámetros.

matiz

hue returns the hue value of the detected color as a decimal (float) from 0 to 359.

El matiz es una forma de describir el color utilizando números alrededor de una rueda de colores.

Usage:
roller_optical.hue()

Parámetros	Descripción
	Este método no tiene parámetros.

objeto_detectado

object_detected registers a function to be called whenever the Optical Sensor detects a new object.

Usage:
roller_optical.object_detected(callback, arg)

Parámetros	Descripción
callback	Una función definida previamente que se ejecuta cuando el sensor óptico detecta un nuevo objeto.
arg	Opcional. Una tupla que contiene los argumentos que se pasarán a la función de devolución de llamada. Consulte Uso de funciones con parámetros para obtener más información.

objeto_perdido

object_lost registers a function to be called whenever the Optical Sensor loses a detected object.

Usage:
roller_optical.object_lost(callback, arg)

Parámetros	Descripción
callback	Una función definida previamente que se ejecuta cuando el sensor óptico pierde un objeto detectado.
arg	Opcional. Una tupla que contiene los argumentos que se pasarán a la función de devolución de llamada. Consulte Uso de funciones con parámetros para obtener más información.

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 or MM

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 or MM

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.

Rastreador de línea

reflectividad

reflectivity returns an integer that represents the amount of light reflected from the surface as a percent.

• Un 0% de reflectividad significa que el objeto es muy oscuro.

• Una reflectividad del 100% significa que el objeto es muy brillante.

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

rastreador de línea	Dominio
top_line_tracker	top_line_tracker.reflectivity(units) — Top Line Tracker
middle_line_tracker	middle_line_tracker.reflectivity(units) — Middle Line Tracker
bottom_line_tracker	bottom_line_tracker.reflectivity(units) — Bottom Line Tracker

Parámetro	Descripción
unidades	Optional. The unit to return the reflectivity with: PERCENT (default)