Bloques específicos para robots#

Introducción #

The Hero Bot, Snapshot, includes two motor options and the Optical Sensor.

All standard VEXcode VR Blocks are available for use in the VIQRC 22-23 Slapshot Playground.

Below is a list of all available Robot-specific Blocks:

Drivetrain – Move and turn the 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.
- turn to rotation — Turns the robot to a specific rotation.
- stop driving — Stops the robot’s movement.
Ajustes
- set drive velocity — Tells the robot how fast to drive.
- set turn velocity — Tells the robot how fast to turn.
- set drive heading — Changes the robot’s current heading to a new heading.
- set drive rotation — Changes the robot’s current rotation to a new rotation.
- set drive timeout — Sets how many seconds the robot will try to finish a movement.
Valores
- drive is done — Reports whether the robot is finished moving.
- drive is moving — Reports whether the robot is moving.
- drive heading — Reports the robot’s current heading from 0 to 359.99 degrees.
- drive rotation — Reports the robot’s current rotation.
- drive velocity — Reports how fast the robot is driving.

Motion – Move and track the robot’s motors.

Comportamiento
- spin motor – Spins a motor in one of its directions forever.
- spin motor for – Spins a motor for a specific distance in degrees or turns.
- spin motor to position – Spins a motor to a specific position.
- stop motor – Stops a motor from spinning.
Ajustes
- set motor velocity – Tells a motor how fast to spin.
- set motor timeout – Sets how much time a motor will try to finish a movement.
- set motor position – Changes the motor’s current position to a new value.
Valores
- motor is done – Reports whether the motor is finished moving.
- motor is spinning – Reports whether the motor is spinning.
- motor position – Reports the motor’s current position.
- motor velocity – Reports how fast the motor is spinning, as a percentage from -100% to 100%.

Detección: Utilice los diversos sensores del robot.

Óptico
- Optical found an object – Reports whether the sensor is detecting an object within range.
- Optical detects color – Reports whether the Optical Sensor detects a specified color.
- Optical brightness – Reports the brightness detected by the Optical Sensor.
- Optical hue – Reports the hue detected by the Optical Sensor.
- when Optical – Runs the attached stack of blocks when the Optical Sensor detects or loses an object.

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

Drivetrain #

The drivetrain controls how the VR Robot drives and turns. The drivetrain can move forward or reverse, turn left or right, turn to headings, and track its rotation.

Comportamiento #

drive #

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

unidad [adelante v]

Parámetros	Descripción
dirección	The direction the robot moves: forward or reverse.

Ejemplo

cuando empezó :: hat events
[Drive forward, then stop.]
unidad [adelante v]
esperar (2) segundos
deja de conducir

drive for #

The drive for stack block moves the robot forward or reverse for a specific distance. The project will wait until the robot is done moving before the next block in the stack runs.

unidad [adelante v] para (200) [mm v] ▶

Parámetros	Descripción
dirección	The direction the robot moves: forward or reverse.
distancia	The distance the robot drives. This can be an integer or a decimal.
unidad	The distance unit: mm (millimeters) or inches
and don’t wait	Select the arrow ( ▶ ) to expand the block to say and don’t wait, so the next block in the stack will run right away.

Ejemplo

cuando empezó :: hat events
[Drive forward.]
unidad [adelante v] para (500) [mm v] ▶

turn #

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

turno [derecha v]

Parámetros	Descripción
dirección	The direction the robot turns: left or right.

Ejemplo

cuando empezó :: hat events
[Turn right, then stop.]
turno [derecha v]
esperar (2) segundos
deja de conducir

The turn for stack block 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 block in the stack runs.

girar [derecha v] por (90) grado ▶

Parámetros	Descripción
dirección	The direction the robot turns: left or right.
angle	The number of degrees the robot turns. This can be an integer or a decimal.
and don’t wait	Select the arrow ( ▶ ) to expand the block to say and don’t wait, so the next block in the stack will run right away.

Ejemplo

cuando empezó :: hat events
[Turn left, then turn around to the right.]
girar [izquierda v] por (90) grado ▶
girar [derecha v] por (180) grado ▶

turn to heading #

A heading is the direction the robot is facing, measured in degrees. The turn to heading stack block 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.

The starting heading is 0 degrees.

The project will wait until the robot is done turning before the next block in the stack runs.

girar hacia el rumbo (90) grados ▶

Parámetros	Descripción
heading	The heading the robot should face, from -359 to 359 degrees.
and don’t wait	Select the arrow ( ▶ ) to expand the block to say and don’t wait, so the next block in the stack will run right away.

Ejemplo

cuando empezó :: hat events
[Turn to face the cardinal directions.]
girar hacia el rumbo (90) grados ▶
esperar (2) segundos
girar hacia el rumbo (180) grados ▶
esperar (2) segundos
girar hacia el rumbo (270) grados ▶
esperar (2) segundos
girar hacia el rumbo (0) grados ▶
esperar (2) segundos

turn to rotation #

The turn to rotation stack block 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 drive rotation block.

Rotation values are absolute. This means the direction of the turn depends on the robot’s current rotation. Turning right increases the rotation, and turning left decreases the rotation.

For example, if the robot starts at 0 degrees and you turn to a rotation of 720 degrees, it will turn right twice. If you then turn to a rotation of 360 degrees, it will turn left once, because 360 is less than 720.

The project will wait until the robot is done turning before the next block in the stack runs.

girar a rotación (90) grados ▶

Parámetros	Descripción
rotation	The rotation value, in degrees, that the robot will turn to. This can be an integer or a decimal.
and don’t wait	Select the arrow ( ▶ ) to expand the block to say and don’t wait, so the next block in the stack will run right away.

Ejemplo

cuando empezó :: hat events
[Turn left, then spin in a circle clockwise and face right.]
girar a rotación (-90) grados ▶
esperar (2) segundos
girar a rotación (450) grados ▶

stop driving #

The stop driving stack block stops the robot’s movement.

deja de conducir

Parámetros	Descripción
	Este bloque no tiene parámetros.

Ejemplo

cuando empezó :: hat events
[Drive forward, then stop.]
unidad [adelante v]
esperar [4] segundos
deja de conducir

Ajustes #

set drive velocity #

The set drive velocity stack block tells the robot how fast to drive. A higher percentage makes the robot drive faster and a lower percentage makes the robot drive slower.

Every project begins with the robot driving at 50% velocity by default.

Note: A higher velocity makes the robot drive faster, but it may be less precise. A lower velocity makes the robot drive slower, but it can be more precise.

Establezca la velocidad de la unidad en (50) [% v]

Parámetros	Descripción
velocidad	The velocity to drive with from 0% to 100%.
unidad	The velocity unit: %

Ejemplo

cuando empezó :: hat events
[Drive forward at the default velocity.]
unidad [adelante v] para (100) [mm v] ▶
esperar (1) segundos
[Move slower.]
Establezca la velocidad de la unidad en (20) [% v]
unidad [adelante v] para (100) [mm v] ▶
esperar (1) segundos
[Move faster.]
Establezca la velocidad de la unidad en (100) [% v]
unidad [adelante v] para (100) [mm v] ▶
esperar (1) segundos

set turn velocity #

The set turn velocity stack block tells the robot how fast to turn. A higher percentage makes the robot turn faster and a lower percentage makes the robot turn slower.

Every project begins with the robot turning at 50% velocity by default.

Note: A higher velocity makes the robot turn faster, but it may be less precise. A lower velocity makes the robot turn slower, but it can be more precise.

establecer la velocidad de giro a (50) [% v]

Parámetros	Descripción
velocidad	The velocity to turn with from 0% to 100%.
unidad	The velocity unit: %

Ejemplo

cuando empezó :: hat events
[Turn at default velocity.]
girar [derecha v] por (100) grado ▶
esperar (1) segundos
[Turn slower.]
establecer la velocidad de giro al (20)%
girar [derecha v] por (100) grado ▶
esperar (1) segundos
[Turn faster.]
establecer la velocidad de giro al (100)%
girar [derecha v] por (100) grado ▶
esperar (1) segundos

set drive heading #

A heading is the direction the robot is facing, measured in degrees. The set drive heading stack block changes the robot’s current heading to a new heading value.

For example, if the robot has turned to face right, setting the heading to 0 degrees makes that right-facing position the new 0 degrees. Then the robot can turn to other positions based on that new heading.

establecer el rumbo de la unidad a (0) grados

Parámetros	Descripción
heading	The heading value, in degrees, to set for the robot.

Ejemplo

cuando empezó :: hat events
[Turn to the left.]
establecer el rumbo de la unidad a (90) grados
girar hacia el rumbo (0) grados ▶

set drive 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. The set drive rotation stack block changes the robot’s current rotation to a new value.

For example, if the robot has made two full turns to the right, its rotation value will be 720 degrees. Setting the rotation to 0 degrees will reset that rotation from 720 to 0 degrees. Then the robot can turn to rotations based on that new value.

establecer la rotación de la unidad a (0) grados

Parámetros	Descripción
rotation	The rotation value, in degrees, to set for the robot. This can be an integer or a decimal.

Ejemplo

cuando empezó :: hat events
[Spin counterclockwise two times.]
establecer la rotación de la unidad a (720) grados
girar a rotación (0) grados ▶

set drive timeout #

The set drive timeout stack block sets how many seconds 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 block in the stack. This keeps the robot from getting stuck on a movement.

Establezca el tiempo de espera de la unidad en (1) segundos

Parámetros	Descripción
tiempo	The number of seconds the robot can try to finish a movement. This can be a whole number or a decimal.

Ejemplo

When started, limits drive time to 1 second and then turns 90 degrees.#

cuando empezó :: hat events
[Drive forward for 1 second, then turn.]
Establezca el tiempo de espera de la unidad en (1) segundos
unidad [adelante v] para (25) [pulgadas v] ▶
girar [derecha v] por (90) grado ▶

Valores #

drive is done #

The drive is done Boolean block reports whether the robot is finished moving. 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 block works together with drivetrain blocks that have the and don’t wait parameter.

<¿La unidad está lista?>

Parámetros	Descripción
	Este bloque no tiene parámetros.

Ejemplo

cuando empezó :: hat events
[Start spinning when the drive is complete.]
unidad [adelante v] para (200) [mm v] ◀ y no esperes
esperar hasta <¿La unidad está lista?>
girar [derecha v] por (360) grado ▶

drive is moving #

The drive is moving Boolean block reports whether the robot is moving. 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.

This block works together with drivetrain blocks that have the and don’t wait parameter.

<¿La unidad se está moviendo?>

Parámetros	Descripción
	Este bloque no tiene parámetros.

Ejemplo

cuando empezó :: hat events
[Print that the robot is moving while it is still driving.]
unidad [adelante v] para (200) [mm v] ◀ y no esperes
mientras <¿La unidad se está moviendo?>
imprimir [Still Moving...] ▶
esperar (0.1) segundos
pantalla clara
fin
imprimir [Done!] ▶

drive heading #

A heading is the direction the robot is facing, measured in degrees. The drive heading reporter block reports that heading from 0 to 359.99 degrees.

The robot’s starting heading is 0 degrees.

(rumbo de la unidad en grados)

Parámetros	Descripción
	Este bloque no tiene parámetros.

Ejemplo

cuando empezó :: hat events
[Display the heading after turning.]
girar [derecha v] por (450) grado ▶
imprimir (rumbo de la unidad en grados) en la pantalla ◀ y coloque el cursor en la siguiente fila

drive 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. The drive rotation reporter block reports the robot’s current rotation.

Turning right increases the rotation, and turning left decreases the rotation. For example, making two full turns to the right will report a rotation of 720 degrees.

(rotación de la unidad en grados)

Parámetros	Descripción
	Este bloque no tiene parámetros.

Ejemplo

cuando empezó :: hat events
[Display the rotation after turning.]
girar [derecha v] por (450) grado ▶
imprimir (rotación de la unidad en grados) en la pantalla ◀ y coloque el cursor en la siguiente fila

drive velocity #

The drive velocity reporter block reports how fast the robot is driving.

(velocidad de accionamiento en [% v])

Parámetros	Descripción
unidad	The velocity unit: %

Ejemplo

cuando empezó :: hat events
[Display the velocity after driving.]
unidad [adelante v] para (200) [mm v] ▶
imprimir (velocidad de accionamiento en [% v]) en la pantalla ◀ y coloque el cursor en la siguiente fila

Movimiento #

Snapshot uses the intake motor to collect Discs or spin them out to score or drop them. The arm motor raises and lowers the arm to release Discs from dispensers and reach field elements.

Each motor has its own direction options. The direction names describe how that motor moves on Snapshot.

Comportamiento #

motor de giro #

The spin motor stack block spins a motor in one of two directions forever. The motor will continue to spin until it is given another action, like spinning in a different direction or stopping.

spin [IntakeMotor v] [intake v]

Parámetros

Descripción

motor

The motor to spin: IntakeMotor or ArmMotor.

dirección

The direction the motor spins:

IntakeMotor — intake or outtake
ArmMotor — up or down

Ejemplo

cuando empezó
[Spin the Intake Motor before stopping.]
spin [IntakeMotor v] [intake v]
esperar (1) segundos
stop [IntakeMotor v]

motor de giro para #

The spin motor for stack block spins a motor for a specific distance. The spin is relative to the current position of the motor. The project will wait until the motor is done spinning before the next block in the stack runs.

spin [IntakeMotor v] [intake v] for [90] [degrees v] ▶

Parámetros	Descripción
motor	The motor to spin: IntakeMotor or ArmMotor.
dirección	The direction the motor spins: IntakeMotor — intake or outtake ArmMotor — up or down
distancia	The distance the motor spins. Degrees use integers. Turns can use integers or decimals.
unidad	The distance unit: degrees or turns.
and don’t wait	Select the arrow ( ▶ ) to expand the block to say and don’t wait, so the next block in the stack will run right away.

Ejemplo

cuando empezó
[Collect the preloaded Disc.]
spin [IntakeMotor v] [intake v] for [180] [degrees v] ▶

motor de giro para posicionar #

The spin motor to position stack block spins a motor to a specific position.

A motor’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 position is set to 0 degrees. The motor position can also be set using the set motor position block.

Position values are absolute. This means the direction of the spin depends on the motor’s current position.

For example, if the motor starts at 0 degrees and spins to a position of 720 degrees, it will spin forward two turns. If it then spins to a position of 360 degrees, it will spin reverse one turn, because 360 is less than 720.

spin [ArmMotor v] to position [90] [degrees v] ▶

Parámetros	Descripción
motor	The motor to spin: IntakeMotor or ArmMotor.
posición	The position value the motor will spin to. Degrees use integers. Turns can use integers or decimals.
unidad	The position unit: degrees or turns.
and don’t wait	Select the arrow ( ▶ ) to expand the block to say and don’t wait, so the next block in the stack will run right away.

Ejemplo

cuando empezó
[Raise the Arm to reach over the barrier.]
spin [ArmMotor v] to position [600] [degrees v] ▶

motor de parada #

The stop motor stack block stops the selected motor.

stop [IntakeMotor v]

Parámetros	Descripción
motor	The motor to stop: IntakeMotor or ArmMotor.

Ejemplo

cuando empezó
[Raise the Arm for 1 second, then stop.]
girar [ArmMotor v] [arriba v]
esperar (1) segundos
parada [ArmMotor v]

Ajustes #

establecer la velocidad del motor #

The set motor velocity stack block tells a motor how fast to spin. A higher percentage makes the motor spin faster and a lower percentage makes the motor spin slower.

Every project begins with each motor spinning at 50% velocity by default.

Note: A higher velocity makes the motor spin faster, but it may be less precise. A lower velocity makes the motor spin slower, but it can be more precise.

set [IntakeMotor v] velocity to [50] [% v]

Parámetros	Descripción
motor	The motor to set the velocity of: IntakeMotor or ArmMotor.
velocidad	The speed the motor will spin at. Percent uses whole numbers from 0% to 100%.
unidad	The velocity unit: %.

Ejemplo

cuando empezó
[Spin the Intake Motor at 75 percent speed.]
set [IntakeMotor v] velocity to [75] [% v]
spin [IntakeMotor v] [intake v] for [180] [degrees v] ▶

establecer tiempo de espera del motor #

The set motor timeout stack block sets how much time a motor will try to finish a movement. If the motor cannot finish in that time, it will stop trying and move on to the next block in the stack. This keeps the motor from getting stuck on a movement.

Establezca el tiempo de espera [ArmMotor v] en [1] segundo

Parámetros	Descripción
motor	The motor to set the timeout of: IntakeMotor or ArmMotor.
tiempo	The number of seconds the motor can try to finish a movement. This can be a whole number or decimal.

Ejemplo

cuando empezó
[Limit how long the Arm Motor will wait to move.]
set [ArmMotor v] timeout to [2] seconds
spin [ArmMotor v] [up v] for [3] [turns v] ▶

Posición #

posición del motor #

A motor’s position is how far it has spun, measured in degrees or turns. One turn is equal to 360 degrees. The motor position reporter block reports the motor’s current position.

At the beginning of a project, the motor position is set to 0 degrees. If the motor spins one full turn forward, the position will be 360 degrees or 1 turn. If the motor spins the other direction, the position will be negative.

([IntakeMotor v] position in [degrees v])

Parámetros	Descripción
motor	The motor to report the position of: IntakeMotor or ArmMotor.
unidad	The unit to report the motor position in: degrees or turns.

establecer la posición del motor #

A motor’s position is how far it has spun, measured in degrees or turns. One turn is equal to 360 degrees. The set motor position stack block changes the motor’s current position to a new value.

For example, if a motor has spun to 180 degrees, setting the position to 0 degrees will reset that position from 180 to 0 degrees. Then the motor can spin to positions based on that new value.

set [IntakeMotor v] position to [0] [degrees v]

Parámetros	Descripción
motor	The motor to set the position of: IntakeMotor or ArmMotor.
posición	The position value to set for the motor. Degrees use integers. Turns can use integers or decimals.
unidad	The position unit: degrees or turns.

Ejemplo

cuando empezó
[Set the Intake Motor position, then spin back to 0 degrees.]
set [IntakeMotor v] position to [180] [degrees v]
spin [IntakeMotor v] to position [0] [degrees v] ▶

Valores #

El motor está terminado #

The motor is done Boolean block reports whether the motor is finished moving. This can be used to control the timing of other behaviors based on the motor’s movement.

True — The motor is finished moving.
False — The motor is still moving.

This block works together with the following Motion blocks that have the and don’t wait parameter: spin motor for and spin motor to position.

<[IntakeMotor v] is done?>

Parámetros	Descripción
motor	The motor to report whether it is finished moving: IntakeMotor or ArmMotor.

motor is spinning #

The motor is spinning Boolean block reports whether the motor is spinning. This can be used to control the timing of other behaviors based on the motor’s movement.

True — The motor is spinning.
False — The motor is not spinning.

This block works together with the following Motion blocks that have the and don’t wait parameter: spin motor for and spin motor to position.

<[IntakeMotor v] is spinning?>

Parámetros	Descripción
motor	The motor to report whether it is spinning: IntakeMotor or ArmMotor.

velocidad del motor #

The motor velocity reporter block reports how fast the motor is spinning, as a percentage from -100% to 100%.

([IntakeMotor v] velocity in [% v] :: custom-motion)

Parámetros	Descripción
motor	The motor to report the velocity of: IntakeMotor or ArmMotor.
unidad	The unit to report the motor velocity in: %.

Detección #

Óptico #

Optical found an object #

The Optical found an object Boolean block reports 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.

<[FrontOptical v] found an object?>

Parámetros	Descripción
	Este bloque no tiene parámetros.

El sensor óptico detecta el color.#

The Optical detects color Boolean block reports whether the Optical Sensor detects a specified color, based on the detected hue value.

True – The sensor detects the specified color.
False – The sensor does not detect the specified color.

<[FrontOptical v] detects [red v]?>

Parámetros	Descripción
color	Which color to look for: red – A detected hue value between 340° - 20°. green – A detected hue value between 80° - 140°. blue – A detected hue value between 200° - 240°. yellow – A detected hue value between 40° - 60°. orange – A detected hue value between 20° - 40°. purple – A detected hue value between 240° - 280°.

Parámetros

Descripción

color

Which color to look for:

red – A detected hue value between 340° - 20°.
green – A detected hue value between 80° - 140°.
blue – A detected hue value between 200° - 240°.
yellow – A detected hue value between 40° - 60°.
orange – A detected hue value between 20° - 40°.
purple – A detected hue value between 240° - 280°.

Brillo óptico #

The Optical brightness reporter block reports how much light is reflected back to the Optical Sensor, as a percentage from 0% to 100%.

A higher percentage means more light is reflected back to the Optical Sensor. A lower percentage means less light is reflected back.

([FrontOptical v] brightness in %)

Parámetros	Descripción
	Este bloque no tiene parámetros.

Tonalidad óptica #

The Optical hue reporter block reports the hue detected by the Optical Sensor as a number from 0 to 359 degrees.

Hue is a way to describe color using numbers around a color wheel.

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.

([FrontOptical v] hue in degrees)

Parámetros	Descripción
	Este bloque no tiene parámetros.

cuando óptico #

The when Optical hat block runs the attached stack of blocks whenever the Optical Sensor detects or loses an object.

when [FrontOptical v] [detects v] an object :: hat events

Parámetros	Descripción
state	When the attached stack of blocks will run: detects runs when an undetected object is detected, while loses runs when a detected object is now no longer detected.