Robot Specific Python#

All standard VEXcode VR commands are available for use in the VIQRC Virtual Skills - Rapid Relay Playground.

Motion #

motor.spin()#

The motor.spin(direction) command is used to spin a motor indefinitely.

This is a non-waiting command and allows any subsequent commands to execute without delay.

To use this command, replace motor with the desired motor or motor group, for example: intake_motor.spin(direction).

Objects	Description
`intake_motor`	Spins Swish’s Intake to collect Balls and put them on its catapult.
`catapult_group`	Raises or lowers Swish’s catapult to launch Balls.

Parameters	Description
direction	The direction for the motor to move in: `FORWARD` or `REVERSE`.

Returns: None.

# Spin the Intake Motor to bring a Ball onto the Catapult.
intake_motor.spin(FORWARD)

wait(2, SECONDS)
intake_motor.stop

motor.spin_for()#

The motor.spin_for(direction, distance, units, wait) command is used to spin a motor for a given amount of degrees or turns.

This is can be a non-waiting or waiting command depending on if the wait parameter is used.

To use this command, replace motor with the desired motor or motor group, for example: intake_motor.spin_for(direction, distance, units, wait).

Objects	Description
`intake_motor`	Spins Swish’s Intake to collect Balls and put them on its catapult.
`catapult_group`	Raises or lowers Swish’s catapult to launch Balls.

Parameters	Description
direction	The direction for the motor to move in: `FORWARD` or `REVERSE`.
distance	The distance for the motor to move as an integer.
units	The units that the motor will use: `DEGREES` or `TURNS`.
wait	Optional. The wait parameter determines whether the command will block subsequent commands (`wait=True`) or allow immediate execution (`wait=False`). If unspecified, the default for the `wait` parameter is `wait=True`.

Returns: None.

# Launch the Ball currently loaded on the Catapult.
catapult_group.spin_for(REVERSE, 5, DEGREES)

# Lower the Catapult to prepare to load another Ball.
catapult_group.spin_for(FORWARD, 1350, DEGREES)

motor.spin_to_position()#

The motor.spin_to(angle, units, wait) command is used to spin a motor to a given position.

This is can be a non-waiting or waiting command depending on if the wait parameter is used.

To use this command, replace motor with the desired motor or motor group, for example: intake_motor.spin_for(angle, units, wait).

Objects	Description
`intake_motor`	Spins Swish’s Intake to collect Balls and put them on its catapult.
`catapult_group`	Raises or lowers Swish’s catapult to launch Balls.

Parameters	Description
angle	The specific angle or number of turns that the motor will spin to.
units	The units that the motor will use: `DEGREES` or `TURNS`.
wait	Optional. The wait parameter determines whether the command will block subsequent commands (`wait=True`) or allow immediate execution (`wait=False`). If unspecified, the default for the `wait` parameter is `wait=True`.

Returns: None.

# Launch the Ball currently loaded on the Catapult.
catapult_group.spin_to_position(-90, DEGREES)

# Lower the Catapult to prepare to load another Ball.
catapult_group.spin_to_position(1260, DEGREES)

motor.stop()#

The motor.stop() command is used to stop a motor.

This is a non-waiting command and allows any subsequent commands to execute without delay.

To use this command, replace motor with the desired motor or motor group, for example: intake_motor.stop().

Objects	Description
`intake_motor`	Spins Swish’s Intake to collect Balls and put them on its catapult.
`catapult_group`	Raises or lowers Swish’s catapult to launch Balls.

Returns: None.

# Spin the Intake Motor to bring a Ball onto the Catapult.
intake_motor.spin(FORWARD)

wait(2, SECONDS)
intake_motor.stop

motor.set_position()#

The motor.set_position(position, units) command is used to set a motor’s encoder position to the given position value.

To use this command, replace motor with the desired motor or motor group, for example: intake_motor.set_position(position, units).

Objects	Description
`intake_motor`	Spins Swish’s Intake to collect Balls and put them on its catapult.
`catapult_group`	Raises or lowers Swish’s catapult to launch Balls.

Parameters	Description
position	The specific integer for the Motor’s encoder to be set to.
units	The units for the motor to use: `DEGREES` or `TURNS`.

Returns: None.

# Launch the Ball currently loaded on the Catapult.
catapult_group.spin_for(REVERSE, 5, DEGREES)

# Lower the Catapult to prepare to load another Ball.
catapult_group.spin_to_position(1260, DEGREES)

# Set the new Catapult position to be 0 degrees.
catapult_group.set_position(0, DEGREES)

motor.set_velocity()#

The motor.set_velocity(velocity, units) command is used to set the speed of a motor.

To use this command, replace motor with the desired motor or motor group, for example: intake_motor.set_velocity(velocity, units).

Objects	Description
`intake_motor`	Spins Swish’s Intake to collect Balls and put them on its catapult.
`catapult_group`	Raises or lowers Swish’s catapult to launch Balls.

Parameters	Description
velocity	The speed that the Motor will spin at, ranging from -100 to 100.
units	The unit for the Motor’s velocity, `PERCENT`.

Returns: None.

# Start spinning the Intake Motor to prepare
# for picking up a Ball.
intake_motor.set_velocity(100, PERCENT)
intake_motor.spin(FORWARD)

motor.set_timeout()#

The motor.set_timeout(value, units) command is used to set 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.

To use this command, replace motor with the desired motor or motor group, for example: intake_motor.set_timeout(value, units).

Objects	Description
`intake_motor`	Spins Swish’s Intake to collect Balls and put them on its catapult.
`catapult_group`	Raises or lowers Swish’s catapult to launch Balls.

Parameters	Description
value	The amount of time the motor will wait before stopping.
units	The unit for the Motor’s timer, `SECONDS`.

Returns: None.

catapult_group.set_timeout(2, SECONDS)

# Lower the Catapult to prepare to load another Ball.
catapult_group.spin_for(6, TURNS)

Events #

intake_optical.object_detected()#

intake_optical.object_detected(callback) is the same command as eye.object_detected(callback).

The command only uses Swish’s Optical Sensor intake_optical to replace eye in the standard command.

For information on how to use the eye.object_detected(callback) command, go to its API documentation here.

intake_optical.object_lost()#

intake_optical.object_lost(callback) is the same command as eye.object_lost(callback).

The command only uses Swish’s Optical Sensor intake_optical to replace eye in the standard command.

For information on how to use the eye.object_lost(callback) command, go to its API documentation here.

Sensing #

motor.is_done()#

The motor.is_done() command is used to return a True or False value if the selected motor has completed its movement.

To use this command, replace motor with the desired motor or motor group, for example: intake_motor.is_done().

Objects	Description
`intake_motor`	Spins Swish’s Intake to collect Balls and put them on its catapult.
`catapult_group`	Raises or lowers Swish’s catapult to launch Balls.

Returns: This returns a Boolean value.

motor.is_spinning()#

The motor.is_spinning() command is used to return a True or False value if the selected motor is moving.

To use this command, replace motor with the desired motor or motor group, for example: intake_motor.is_spinning().

Objects	Description
`intake_motor`	Spins Swish’s Intake to collect Balls and put them on its catapult.
`catapult_group`	Raises or lowers Swish’s catapult to launch Balls.

Returns: This returns a Boolean value.

motor.position()#

The motor.position(units) command is used to return the current rotational position of the selected motor.

To use this command, replace motor with the desired motor or motor group, for example: intake_motor.position(units).

Objects	Description
`intake_motor`	Spins Swish’s Intake to collect Balls and put them on its catapult.
`catapult_group`	Raises or lowers Swish’s catapult to launch Balls.

Parameters	Description
units	The unit of the returned value, `DEGREES` or `TURNS`.

Returns: This returns a numerical value.

# Lower the Catapult to prepare to load another Ball.
while not catapult_group.position(DEGREES) == 1260:
    catapult_group.spin(FORWARD)

motor.velocity()#

The motor.velocity(units) command is used to return the current velocity of the selected motor.

To use this command, replace motor with the desired motor or motor group, for example: intake_motor.velocity(units).

Objects	Description
`intake_motor`	Spins Swish’s Intake to collect Balls and put them on its catapult.
`catapult_group`	Raises or lowers Swish’s catapult to launch Balls.

Parameters	Description
units	The unit of the motor’s velocity, `PERCENT`.

Returns: This returns a numerical value.

brain.screen.print(catapult_group.velocity(PERCENT))

intake_optical.is_near_object()#

The intake_optical.near_object() command is used to report a Boolean value if the Optical Sensor is close enough to a Ball to detect it.

This is a non-waiting command and allows any subsequent commands to execute without delay.

Returns: This reports a Boolean value.

# Launch a loaded Ball once the Intake Optical Sensor
# detects a Ball in the Intake.
if intake_optical.is_near_object():
    catapult_group.spin_for(REVERSE, 5, DEGREES)

intake_optical.color()#

The intake_optical.color() command is used to return the color detected by the Intake Optical Sensor.

The following colors can be used as a comparison to the color detected:

RED
GREEN
BLUE
YELLOW
ORANGE
PURPLE
CYAN

Returns: This returns the name of the detected color as a string.

# Launch a loaded Ball once the Intake Optical Sensor
# detects a Ball in the Intake.
if intake_optical.color() == YELLOW:
    catapult_group.spin_for(REVERSE, 5, DEGREES)

intake_optical.brightness()#

The intake_optical.brightness() command is used to report the amount of light detected by an Optical Sensor within a range of 0 to 100 percent.

Returns: This returns a numeric value.

# Launch a loaded Ball once the Intake Optical Sensor
# detects a Ball in the Intake.
if intake_optical.brightness() > 0:
    catapult_group.spin_for(REVERSE, 5, DEGREES)

The intake_optical.brightness() command is used to report the hue of the object detected by an Optical Sensor within a range of 0 to 359. This number represents the location of the detected color on a color wheel.

Returns: This returns a numeric value.

# Launch a loaded Ball once the Intake Optical Sensor
# detects a Ball in the Intake.
if intake_optical.hue() > 100:
    catapult_group.spin_for(REVERSE, 5, DEGREES)