Robot-Specific Blocks#

Introduction #

The Hero Bot, Fling, includes three motor options and the Color Sensor.

All standard VEXcode VR Blocks are available for use in the VIQRC 21-22 Pitching In Playground.

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

Drivetrain – Move and turn the robot.

Actions
- 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.
Settings
- 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.
Values
- 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.

Actions
- spin motor – Spins a motor forward or reverse 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.
Settings
- 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.
Values
- 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%.

Sensing - Utilize the robot’s various sensors.

Color
- Color found an object - Reports whether the sensor is detecting an object within range.
- Color detects color - Reports whether the Color Sensor detects a specified color.
- color name - Reports the color detected by the Color Sensor.
- brightness - Reports the brightness detected by the Color Sensor.
- hue - Reports the hue detected by the Color Sensor.

The examples on this page use the default Playground start position.

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.

Actions #

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.

  drive [forward v]

Parameters	Description
direction	The direction the robot moves: forward or reverse.

Example

  when started :: hat events
  [Drive forward, then stop.]
  drive [forward v]
  wait (2) seconds
  stop driving

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.

  drive [forward v] for (200) [mm v] ▶

Parameters	Description
direction	The direction the robot moves: forward or reverse.
distance	The distance the robot drives. This can be an integer or a decimal.
unit	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.

Example

  when started :: hat events
  [Drive forward.]
  drive [forward v] for (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.

  turn [right v]

Parameters	Description
direction	The direction the robot turns: left or right.

Example

  when started :: hat events
  [Turn right, then stop.]
  turn [right v]
  wait (2) seconds
  stop driving

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.

  turn [right v] for (90) degrees ▶

Parameters	Description
direction	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.

Example

  when started :: hat events
  [Turn left, then turn around to the right.]
  turn [left v] for (90) degrees ▶
  turn [right v] for (180) degrees ▶

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.

  turn to heading (90) degrees ▶

Parameters	Description
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.

Example

  when started :: hat events
  [Turn to face the cardinal directions.]
  turn to heading (90) degrees ▶
  wait (2) seconds
  turn to heading (180) degrees ▶
  wait (2) seconds
  turn to heading (270) degrees ▶
  wait (2) seconds
  turn to heading (0) degrees ▶
  wait (2) seconds

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.

  turn to rotation (90) degrees ▶

Parameters	Description
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.

Example

  when started :: hat events
  [Turn left, then spin in a circle clockwise and face right.]
  turn to rotation (-90) degrees ▶
  wait (2) seconds
  turn to rotation (450) degrees ▶

stop driving #

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

  stop driving

Parameters	Description
	This block has no parameters.

Example

  when started :: hat events
  [Drive forward, then stop.]
  drive [forward v]
  wait [4] seconds
  stop driving

Settings #

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.

  set drive velocity to (50) [% v]

Parameters	Description
velocity	The velocity to drive with from 0% to 100%.
unit	The velocity unit: %

Example

  when started :: hat events
  [Drive forward at the default velocity.]
  drive [forward v] for (100) [mm v] ▶
  wait (1) seconds
  [Move slower.]
  set drive velocity to (20) [% v]
  drive [forward v] for (100) [mm v] ▶
  wait (1) seconds
  [Move faster.]
  set drive velocity to (100) [% v]
  drive [forward v] for (100) [mm v] ▶
  wait (1) seconds

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.

  set turn velocity to (50) [% v]

Parameters	Description
velocity	The velocity to turn with from 0% to 100%.
unit	The velocity unit: %

Example

  when started :: hat events
  [Turn at default velocity.]
  turn [right v] for (100) degrees ▶
  wait (1) seconds
  [Turn slower.]
  set turn velocity to (20)%
  turn [right v] for (100) degrees ▶
  wait (1) seconds
  [Turn faster.]
  set turn velocity to (100)%
  turn [right v] for (100) degrees ▶
  wait (1) seconds

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.

  set drive heading to (0) degrees

Parameters	Description
heading	The heading value, in degrees, to set for the robot.

Example

  when started :: hat events
  [Turn to the left.]
  set drive heading to (90) degrees
  turn to heading (0) degrees ▶

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.

  set drive rotation to (0) degrees

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

Example

  when started :: hat events
  [Spin counterclockwise two times.]
  set drive rotation to (720) degrees
  turn to rotation (0) degrees ▶

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.

  set drive timeout to (1) seconds

Parameters	Description
time	The number of seconds the robot can try to finish a movement. This can be a whole number or a decimal.

Example

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

  when started :: hat events
  [Drive forward for 1 second, then turn.]
  set drive timeout to (1) seconds
  drive [forward v] for (25) [inches v] ▶
  turn [right v] for (90) degrees ▶

Values #

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.

    <drive is done?>

Parameters	Description
	This block has no parameters.

Example

    when started :: hat events
    [Start spinning when the drive is complete.]
    drive [forward v] for (200) [mm v] ◀ and don't wait
    wait until <drive is done?>
    turn [right v] for (360) degrees ▶

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.

    <drive is moving?>

Parameters	Description
	This block has no parameters.

Example

    when started :: hat events
    [Print that the robot is moving while it is still driving.]
    drive [forward v] for (200) [mm v] ◀ and don't wait
    while <drive is moving?>
    print [Still Moving...] ▶
    wait (0.1) seconds
    clear screen
    end
    print [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.

    (drive heading in degrees)

Parameters	Description
	This block has no parameters.

Example

    when started :: hat events
    [Display the heading after turning.]
    turn [right v] for (450) degrees ▶
    print (drive heading in degrees) on screen ◀ and set cursor to next row

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.

    (drive rotation in degrees)

Parameters	Description
	This block has no parameters.

Example

    when started :: hat events
    [Display the rotation after turning.]
    turn [right v] for (450) degrees ▶
    print (drive rotation in degrees) on screen ◀ and set cursor to next row

drive velocity #

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

    (drive velocity in [% v])

Parameters	Description
unit	The velocity unit: %

Example

    when started :: hat events
    [Display the velocity after driving.]
    drive [forward v] for (200) [mm v] ▶
    print (drive velocity in [% v]) on screen ◀ and set cursor to next row

Motion #

Fling uses the intake motor to pull Balls in or eject them. The catapult and catapult arm tension motors launch Balls, with tension changing how far the Balls travel.

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

Actions #

spin motor #

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]

Parameters

Description

motor

The motor to spin:

IntakeMotor
CatapultMotor
CatapultTensionMotor

direction

The direction the motor spins:

IntakeMotor — intake or outtake
CatapultMotor — forward or reverse
CatapultTensionMotor — forward or reverse

Example

    when started
    [Spin the Intake Motor before stopping.]
    spin [IntakeMotor v] [intake v]
    wait (1) seconds
    stop [IntakeMotor v]

spin motor for #

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] ▶

Parameters	Description
motor	The motor to spin: IntakeMotor CatapultMotor CatapultTensionMotor
direction	The direction the motor spins: IntakeMotor — intake or outtake CatapultMotor — forward or reverse CatapultTensionMotor — forward or reverse
distance	The distance the motor spins. Degrees use integers. Turns can use integers or decimals.
unit	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.

Example

    when started
    [Collect a Ball with the Intake Motor.]
    spin [IntakeMotor v] [intake v] for [1] [turns v] ▶

spin motor to position #

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 [CatapultMotor v] to position [90] [degrees v] ▶

Parameters	Description
motor	The motor to spin: IntakeMotor CatapultMotor CatapultTensionMotor
position	The position value the motor will spin to. Degrees use integers. Turns can use integers or decimals.
unit	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.

Example

    when started
    [Move the Catapult Motor to a launch position.]
    spin [CatapultMotor v] to position [2600] [degrees v] ▶

stop motor #

The stop motor stack block stops the selected motor.

    stop [IntakeMotor v]

Parameters	Description
motor	The motor to stop: IntakeMotor CatapultMotor CatapultTensionMotor

Parameters

Description

motor

The motor to stop:

IntakeMotor
CatapultMotor
CatapultTensionMotor

Example

    when started
    [Spin the Intake Motor, then stop it.]
    spin [IntakeMotor v] [intake v]
    wait (1) seconds
    stop [IntakeMotor v]

Settings #

set motor velocity #

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 [CatapultMotor v] velocity to [50] [% v]

Parameters	Description
motor	The motor to set the velocity of: IntakeMotor CatapultMotor CatapultTensionMotor
velocity	The speed the motor will spin at. Percent uses whole numbers from 0% to 100%.
unit	The velocity unit: %.

Parameters

Description

motor

The motor to set the velocity of:

IntakeMotor
CatapultMotor
CatapultTensionMotor

velocity

The speed the motor will spin at. Percent uses whole numbers from 0% to 100%.

unit

The velocity unit: %.

Example

    when started
    [Set the Catapult Motor velocity before moving it.]
    set [CatapultMotor v] velocity to [75] [% v]
    spin [CatapultMotor v] to position [2600] [degrees v] ▶

set motor timeout #

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.

    set [CatapultMotor v] timeout to [1] seconds

Parameters	Description
motor	The motor to set the timeout of: IntakeMotor CatapultMotor CatapultTensionMotor
time	The number of seconds the motor can try to finish a movement. This can be a whole number or decimal.

Parameters

Description

motor

The motor to set the timeout of:

IntakeMotor
CatapultMotor
CatapultTensionMotor

time

The number of seconds the motor can try to finish a movement. This can be a whole number or decimal.

Example

    when started
    [Limit how long the Catapult Motor will wait to move.]
    set [CatapultMotor v] timeout to [2] seconds
    spin [CatapultMotor v] to position [5000] [degrees v] ▶

Position #

motor position #

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.

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

Parameters	Description
motor	The motor to report the position of: IntakeMotor CatapultMotor CatapultTensionMotor
unit	The unit to report the motor position in: degrees or turns.

Parameters

Description

motor

The motor to report the position of:

IntakeMotor
CatapultMotor
CatapultTensionMotor

unit

The unit to report the motor position in: degrees or turns.

set motor position #

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 [CatapultMotor v] position to [0] [degrees v]

Parameters	Description
motor	The motor to set the position of: IntakeMotor CatapultMotor CatapultTensionMotor
position	The position value to set for the motor. Degrees use integers. Turns can use integers or decimals.
unit	The position unit: degrees or turns.

Parameters

Description

motor

The motor to set the position of:

IntakeMotor
CatapultMotor
CatapultTensionMotor

position

The position value to set for the motor. Degrees use integers. Turns can use integers or decimals.

unit

The position unit: degrees or turns.

Example

    when started
    [Set the Catapult Motor position, then return to 0 degrees.]
    set [CatapultMotor v] position to [2600] [degrees v]
    spin [CatapultMotor v] to position [0] [degrees v] ▶

Values #

motor is done #

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?>

Parameters	Description
motor	The motor to report whether it is finished moving: IntakeMotor CatapultMotor CatapultTensionMotor

Parameters

Description

motor

The motor to report whether it is finished moving:

IntakeMotor
CatapultMotor
CatapultTensionMotor

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?>

Parameters	Description
motor	The motor to report whether it is spinning: IntakeMotor CatapultMotor CatapultTensionMotor

Parameters

Description

motor

The motor to report whether it is spinning:

IntakeMotor
CatapultMotor
CatapultTensionMotor

motor velocity #

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)

Parameters	Description
motor	The motor to report the velocity of: IntakeMotor CatapultMotor CatapultTensionMotor
unit	The unit to report the motor velocity in: %.

Parameters

Description

motor

The motor to report the velocity of:

IntakeMotor
CatapultMotor
CatapultTensionMotor

unit

The unit to report the motor velocity in: %.

Sensing #

Color #

Color found an object #

The Color found an object Boolean block reports whether or not the Color Sensor detects an object within range.

True — The Color Sensor detects an object.
False — The Color Sensor does not detect an object.

    <[Color v] found an object?>

Parameters	Description
	This block has no parameters.

Color detects color #

The Color detects color Boolean block reports whether the Color 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.

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

Parameters	Description
color	A valid color: blue – Hue value between 196° and 229° blue_green – Hue value between 140° and 195° blue_violet – Hue value between 230° and 239° green – Hue value between 84° and 139° orange – Hue value between 21° and 30° purple red – Hue value between 350° and 14° red_orange – Hue value between 15° and 20° red_violet – Hue value between 281° and 350° violet – Hue value between 240° and 280° white yellow – Hue value between 54° and 74° yellow_green – Hue value between 75° and 83° yellow_orange – Hue value between 31° and 53°

Parameters

Description

color

A valid color:

blue – Hue value between 196° and 229°
blue_green – Hue value between 140° and 195°
blue_violet – Hue value between 230° and 239°
green – Hue value between 84° and 139°
orange – Hue value between 21° and 30°
purple
red – Hue value between 350° and 14°
red_orange – Hue value between 15° and 20°
red_violet – Hue value between 281° and 350°
violet – Hue value between 240° and 280°
white
yellow – Hue value between 54° and 74°
yellow_green – Hue value between 75° and 83°
yellow_orange – Hue value between 31° and 53°

color name #

The color name reporter block reports the name of the color currently detected by the Color Sensor.

    ([Color v] color name)

Parameters	Description
	This block has no parameters.

brightness #

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

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

    ([Color v] brightness in %)

Parameters	Description
	This block has no parameters.

hue #

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

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

A circular color wheel displaying a full spectrum of hues labeled with degree values around the perimeter, increasing in 30-degree increments from 0 degrees at the top to 360 degrees.

    ([Color v] hue in degrees)

Parameters	Description
	This block has no parameters.