Python específico para robots#

Introducción#

El parque infantil VIQRC 25-26 Mix & Match incorpora métodos exclusivos de este modelo, incluyendo dos opciones de motor, el sensor de visión IQ AI, el sensor óptico y el LED táctil.

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

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 indefinitely.

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

    • spin_to_position - Spins a motor to a set position.

    • stop - Stops a specific motor from spinning.

  • Mutadores

    • set_position - Sets the encoder value of a motor.

    • set_velocity - Sets the speed of a motor as a percentage.

    • set_timeout - Limits how long a motor command 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 percent.

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

  • 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.

  • LED táctil

    • set_color - Sets the Touch LED to a selected color.

  • Óptico

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

    • color - Returns the color detected by 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.

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

Movimiento#

Comportamiento#

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 the claw or lowers the lift.
  • REVERSE - Closes the claw or raises the lift.

 
def main():
    # Raise the lift, drive forward, then open the claw.
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

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 the claw or lowers the lift.
  • REVERSE - Closes the claw or raises the lift.

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.

 
def main():
    # Raise the lift, drive forward, then open the claw.
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

girar_a_posición#

spin_to_position 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 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.

 
def main():
    # Raise the lift to a known position, drive, then open the claw
    lift_motor.spin_to_position(-2, TURNS)
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

motor de parada#

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():
    # Raise the lift for 2 seconds, then stop
    lift_motor.spin(REVERSE)
    wait(2, SECONDS)
    lift_motor.stop()
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

Mutadores#

posición_de_establecer#

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 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():
    # Reset the lift position, then move to a new target.
    lift_motor.set_position(100, DEGREES)
    lift_motor.spin_to_position(-500, DEGREES)
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

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 oscila entre 0 y 100.

units

The unit that represents the new velocity:

  • PERCENT

 
def main():
    # Set lift speed, then raise it.
    lift_motor.set_velocity(100, PERCENT)
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

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

El tiempo que el motor esperará antes de detenerse.

units

The unit to represent the timeout:

  • SECONDS
  • MSEC - milliseconds

 
def main():
    # Limit how long the lift waits to reach its target.
    lift_motor.set_timeout(2, SECONDS)
    lift_motor.spin_for(REVERSE, 5, TURNS)
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

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():
    # Flash the Touch LED while the lift is moving.
    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)

# VR threads — Do not delete
vr_thread(main)

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():
    # Flash the Touch LED while the lift is spinning.
    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)

# VR threads — Do not delete
vr_thread(main)

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():
    # Raise the lift until it reaches roughly 600 degrees.
    lift_motor.spin(REVERSE)
    while not lift_motor.position(DEGREES) <= -600:
        wait(2, MSEC)
    lift_motor.stop()
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

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 represents the motor’s velocity:

  • PERCENT

 
def main():
    # Print the lift velocity while it is moving.
    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))

# VR threads — Do not delete
vr_thread(main)

Visión por IA#

Getters#

tomar_instantánea#

take_snapshot filters the data from the IQ 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 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:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        drivetrain.drive(FORWARD)

    drivetrain.drive_for(FORWARD, 160, MM)
    claw_motor.spin(FORWARD)

# 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 on 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.

.ancho#

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

def main():
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
    if len(ai_objects) > 0:
        brain.screen.print(ai_objects[0].width)

# 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():
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
    if len(ai_objects) > 0:
        brain.screen.print(ai_objects[0].height)

# 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():
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
    if len(ai_objects) > 0:
        brain.screen.print(ai_objects[0].centerX)

# 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():
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
    if len(ai_objects) > 0:
        brain.screen.print(ai_objects[0].centerY)

# 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():
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
    if len(ai_objects) > 0:
        brain.screen.print(ai_objects[0].originX)

# 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():
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
    if len(ai_objects) > 0:
        brain.screen.print(ai_objects[0].originY)

# 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

Haz

0

GameElements.BEAM

Pin azul

1

GameElements.BLUE_PIN

Pin rojo

2

GameElements.RED_PIN

Pin naranja

3

GameElements.ORANGE_PIN

 
def main():
    # Find the nearest Blue Pin in the current snapshot.
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    object_count = 1
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)

    if len(ai_objects) > 0:
        for repeat_count in range(len(ai_objects)):
            if ai_objects[repeat_count].id == GameElements.BLUE_PIN:
                brain.screen.print(str("Closest Blue Pin is ") + str(object_count))
                break
            object_count = object_count + 1

# VR threads — Do not delete
vr_thread(main)

Detección#

LED táctil#

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():
    # Light the Touch LED while placing a 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)

# VR threads — Do not delete
vr_thread(main)

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():
    # Wait until the claw no longer detects an object, then lower the lift.
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)
    while optical.is_near_object():
        wait(2, MSEC)
    lift_motor.spin_to_position(0, DEGREES)

# 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
  • 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():
    # Wait until the Optical Sensor detects red, then lower the lift.
    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)

# 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():
    # Lower the lift once the claw sees a darker object.
    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)

# 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.

Una rueda de colores circular que muestra un espectro completo de tonalidades etiquetadas con valores de grados alrededor del perímetro, aumentando en incrementos de 30 grados desde 0 grados en la parte superior hasta 360 grados.

Usage:
optical.hue()

Parámetros

Descripción

Este método no tiene parámetros.

 
def main():
    # Lower the lift once the Optical Sensor reports a hue value.
    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)

# 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 pin_in_claw():
    touchled.set_color(RED)

def main():
    # Change the Touch LED color when the claw detects an object.
    optical.object_detected(pin_in_claw)
    touchled.set_color(GREEN)
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

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 the lift when the claw no longer holds an object.
    lift_motor.spin_to_position(0, DEGREES)

def main():
    optical.object_lost(lower_lift)
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)
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