Robot Specific Python#

All standard VEXcode VR commands are available for use in the V5RC Virtual Skills - Over Under 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 Striker’s Intake to pick up Game Elements from the Field.
`arm_motor`	Raises or lowers Striker’s Arm.

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

Returns: None.

def main():
    # Spin the intake motor forward.
    intake_motor.spin(FORWARD)
    # Wait half a second.
    wait(0.5, SECONDS)
    # Stop spinning the intake motor group.
    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 Striker’s Intake to pick up Game Elements from the Field.
`arm_motor`	Raises or lowers Striker’s Arm.

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.

def main():
    # Spin the intake motor forward for 1 turn.
    intake_motor.spin_for(FORWARD, 1, TURNS)

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 Striker’s Intake to pick up Game Elements from the Field.
`arm_motor`	Raises or lowers Striker’s Arm.

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.

def main():
    # Spin the intake motor to 55 degrees.
    intake_motor.spin_to_position(55, 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 Striker’s Intake to pick up Game Elements from the Field.
`arm_motor`	Raises or lowers Striker’s Arm.

Returns: None.

def main():
    # Spin the intake motor forward.
    intake_motor.spin(FORWARD)
    # Wait half a second.
    wait(0.5, SECONDS)
    # Stop spinning the intake motor group.
    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.

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.set_position(position, units).

Objects	Description
`intake_motor`	Spins Striker’s Intake to pick up Game Elements from the Field.
`arm_motor`	Raises or lowers Striker’s Arm.

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.

def main():
    # Set the current motor position to 90 degrees.
    intake_motor.set_position(90, DEGREES)
    # Spin the intake motor back to 0 degrees.
    intake_motor.spin_to_position(0, DEGREES)

motor.set_velocity()#

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

Objects	Description
`intake_motor`	Spins Striker’s Intake to pick up Game Elements from the Field.
`arm_motor`	Raises or lowers Striker’s Arm.

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.

def main():
    # Set the intake motor velocity to 75 percent.
    intake_motor.set_velocity(75, PERCENT)
    # Spin the intake motor to 180 degrees.
    intake_motor.spin_to_position(180, DEGREES)

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.

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.set_timeout(value, units).

Objects	Description
`intake_motor`	Spins Striker’s Intake to pick up Game Elements from the Field.
`arm_motor`	Raises or lowers Striker’s Arm.

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

Returns: None.

def main():
    # Set the intake motor's timeout to 2 seconds.
    intake_motor.set_timeout(2, SECONDS)
    # Spin the intake motor to 270 degrees.
    intake_motor.spin_to_position(270, DEGREES)

Events #

intake_bumper.pressed()#

intake_bumper.pressed(callback) is the same command as bumper.pressed(callback).

The command only uses Striker’s specific bumper sensor intake_bumper to replace bumper in the standard command.

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

intake_bumper.released()#

intake_bumper.released(callback) is the same command as bumper.released(callback).

The command only uses Striker’s specific bumper sensor intake_bumper to replace bumper in the standard command.

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

front_optical.object_detected()#

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

The command only uses Striker’s Optical Sensor front_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.

front_optical.object_lost()#

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

The command only uses Striker’s Optical Sensor front_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 Striker’s Intake to pick up Game Elements from the Field.
`arm_motor`	Raises or lowers Striker’s Arm.

Returns: This returns a Boolean value.

def main():
    # Move the Arm so it doesn't block the Front Distance Sensor.
    arm_motor.spin_to_position(1000, DEGREES)
    # Wait until the arm_motor has finished moving.
    if arm_motor.is_done():
        # Print the distance from the Front Distance Sensor to the closest
        # object in front of it.
        brain.screen.print(front_distance.object_distance(MM))

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 Striker’s Intake to pick up Game Elements from the Field.
`arm_motor`	Raises or lowers Striker’s Arm.

Returns: This returns a Boolean value.

# Example coming soon.

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 Striker’s Intake to pick up Game Elements from the Field.
`arm_motor`	Raises or lowers Striker’s Arm.

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

Returns: This returns a numerical value.

def main():
    # Print the current position of the intake_motor in degrees.
    brain.screen.print(intake_motor.position(DEGREES))

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 Striker’s Intake to pick up Game Elements from the Field.
`arm_motor`	Raises or lowers Striker’s Arm.

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

Returns: This returns a numerical value.

def main():
    # Print the current velocity of the arm_motor.
    brain.screen.print(arm_motor.velocity(PERCENT))

intake_bumper.pressing()#

intake_bumper.pressing() is the same command as bumper.pressing().

The command only uses Striker’s specialized Bumper Sensor intake_bumper to replace bumper in the standard command.

For information on how to use the bumper.pressing() command, go to its API documentation here.

front_optical.is_near_object()#

The front_optical.near_object() command is used to report a Boolean value if the Optical Sensor is close enough to an object to detect a color.

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

Returns: This reports a Boolean value.

def main():
    # Print if the Front Optical Sensor is detecting a color.
    brain.print(front_optical.near_object())

front_optical.color()#

The front_optical.color() command is used to return the color detected by an Optical Sensor.

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

The following colors can be used as a comparison to the color detected by an Optical Sensor:

RED
GREEN
BLUE
YELLOW
ORANGE
PURPLE
CYAN

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

def main():
    # Print the color of the object that the Front Optical Sensor sees.
    brain.print(front_optical.color())

front_optical.brightness()#

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

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

Returns: This returns a numeric value.

def main():
    # Print the brightness of the object in front of Striker.
    brain.print(front_optical.brightness())

The front_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.

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

Returns: This returns a numeric value.

def main():
    # Print the hue of the object in front of Striker.
    brain.screen.print("Hue: ", optical.hue())

gps.x_position()#

The gps.x_position(units) command is used to report the X positional offset of a GPS Sensor or defined origin point from the center of a field.

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

Parameters	Description
`units`	The unit of the offset value, `INCHES` or `MM` (Millimeters).

Returns: This returns a numeric value.

def main():
    # Print the current X positional offset of the robot.
    brain.screen.print(gps.x_position(MM))

gps.y_position()#

The gps.y_position(units) command is used to report the Y positional offset of a GPS Sensor or defined origin point from the center of a field.

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

Parameters	Description
`units`	The unit of the offset value, `INCHES` or `MM` (Millimeters).

Returns: This returns a numeric value.

def main():
    # Print the current Y positional offset of the robot.
    brain.screen.print(gps.y_position(MM))

gps.heading()#

The gps.heading() command is used to report the heading that a robot is currently facing based on a GPS Sensor’s readings from the VEX GPS Field Code.

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

Returns: This returns a numeric value.

def main():
    # Print the current heading of the robot.
    brain.screen.print(gps.heading())