Robot-Specific Blocks#
Introduction#
The VIQRC 25-26 Mix & Match Playground features blocks exclusive to this Playground, including two motor options, the IQ AI Vision Sensor, the Optical Sensor, and the Touch LED.
All standard VEXcode VR Blocks are available for use in the VIQRC 25-26 Mix & Match Playground.
Below is a list of all available Playground-specific Blocks:
Motion - Move and track the robot’s motors.
Actions
spin motor - Spins the selected motor indefinitely.
spin motor for - Spins a motor for a specific distance in degrees or turns.
spin motor to position - Spins a motor to a set position.
stop motor - Stops a specific motor from spinning.
Settings
set motor velocity - Sets the speed of a motor as a percentage.
set motor timeout - Limits how long a motor block waits before giving up if movement is blocked.
Position
motor position - Returns the motor’s current rotational position in degrees or turns.
set motor position - Sets the encoder value of a motor.
Values
motor is done? - Returns a Boolean indicating whether the motor is no longer spinning.
motor is spinning? - Returns a Boolean indicating whether the motor is currently spinning.
motor velocity - Returns the motor’s current velocity in %.
AI Vision - Capture and analyze objects using the IQ AI Vision Sensor.
Actions
get object data - Captures data for detected AI Classifications.
Settings
set object item - Selects a specific object from the list.
Values
object exists? - Returns whether any classification was detected.
object count - Returns how many objects were detected.
object property - Returns width, height, centerX, centerY, originX, or originY.
AI Classification is - Returns whether a specific classification is detected.
Sensing - Utilize the robot’s various sensors.
Optical
Optical found an object? - Returns whether an object is detected.
Optical detects color? - Returns whether a specific color is detected.
Optical brightness - Returns the brightness percentage detected by the sensor.
Optical hue - Returns the hue value of the detected color.
when Optical - Executes the attached stack of blocks when the Optical Sensor detects or loses an object.
Touch LED
set TouchLED color - Sets the Touch LED to a selected color.
The examples on this page use the default Playground start position.
Motion#
Actions#
spin motor#
The spin motor block spins a selected motor in a specified direction using the current motor velocity.
spin [ClawMotor v] [open v]
Parameters |
Description |
|---|---|
motor |
The motor to spin:
|
direction |
The direction to spin:
|
Example
when started
[Place a pin atop another pin.]
spin [LiftMotor v] [up v] for [600] [degrees v] ▶
drive [forward v] for (140) [mm v] ▶
spin [ClawMotor v] [open v]
spin motor for#
The spin motor for block spins a selected motor for a specific amount of rotation using the current motor velocity, measured in degrees or turns.
spin [ClawMotor v] [open v] for (90) [degrees v] ▶
Parameters |
Description |
|---|---|
motor |
The motor to spin:
|
direction |
The direction to spin:
|
distance |
The rotation amount, as an integer or decimal. |
unit |
The unit of measurement representing the distance:
|
expanding arrow |
By default, this is a waiting block, so the motor will finish moving before running the next block. Expand the block to say and don’t wait to make it non-waiting. |
Example
when started
[Place a pin atop another pin.]
spin [LiftMotor v] [up v] for [600] [degrees v] ▶
drive [forward v] for (140) [mm v] ▶
spin [ClawMotor v] [open v]
spin motor to position#
The spin motor to position block spins a motor to a specific absolute position using the current motor velocity and motor position.
spin [ClawMotor v] to position (90) [degrees v] ▶
Parameters |
Description |
|---|---|
motor |
The motor to spin:
|
position |
The target position to spin the motor to. |
unit |
The unit of measurement:
|
expanding arrow |
By default, this is a waiting block. Expand the block to say and don’t wait to make it non-waiting. |
Example
when started
[Place a pin atop another pin.]
spin [LiftMotor v] to position [-2] [turns v] ▶
drive [forward v] for (140) [mm v] ▶
spin [ClawMotor v] [open v]
stop motor#
The stop motor block immediately stops the selected motor.
stop [ClawMotor v]
Parameters |
Description |
|---|---|
motor |
The motor to stop:
|
Example
when started
[Raise the lift for 2 seconds, then stop.]
spin [LiftMotor v] [up v]
wait (2) seconds
stop [LiftMotor v]
Settings#
set motor velocity#
The set motor velocity block sets the default spinning speed of a motor as a percentage for all subsequent Motor blocks in the project.
set [ClawMotor v] velocity to (50) [% v]
Parameters |
Description |
|---|---|
motor |
The motor to set the velocity of:
|
velocity |
Sets the default movement velocity from 0 to 100 as a percent. |
unit |
The unit that represents the velocity:
|
Example
when started
[Raise the lift at full speed.]
set [LiftMotor v] velocity to [100] [% v]
spin [LiftMotor v] [up v] for [600] [degrees v] ▶
set motor timeout#
The set motor timeout block sets a time limit for how long a Motor block will wait to reach its target. If the robot cannot complete the movement within the set time, it will stop automatically and continue with the next block.
set [ClawMotor v] timeout to (1) seconds
Parameters |
Description |
|---|---|
motor |
The motor to set the timeout of:
|
time |
The maximum number of seconds a Motor block will run before stopping and moving to the next block. |
Example
when started
set [LiftMotor v] timeout to [2] seconds
spin [LiftMotor v] [up v] for [5] [turns v] ▶
Position#
motor position#
The motor position block returns the total distance the selected motor has rotated.
([ClawMotor v] position in [degrees v])
Parameters |
Description |
|---|---|
motor |
The motor to return the position of:
|
unit |
The unit of measurement:
|
Example
when started
[Raise the lift until it reaches 600 degrees.]
spin [LiftMotor v] [up v]
wait until <([LiftMotor v] position in [degrees v]) [math_less_than v] [-600]>
stop [LiftMotor v]
set motor position#
The set motor position block sets a specific position value to a motor, which updates the encoder reading.
set [ClawMotor v] position to (0) [degrees v]
Parameters |
Description |
|---|---|
motor |
The motor to set the position of:
|
position |
The encoder position value to set. |
unit |
The unit of measurement:
|
Example
when started
set [LiftMotor v] position to [100] [degrees v]
spin [LiftMotor v] to position [-500] [degrees v] ▶
Values#
motor is done#
The motor is done? block returns a Boolean indicating whether the motor is not spinning.
True - The motor is not spinning.
False - The motor is spinning.
<[ClawMotor v] is done?>
Parameters |
Description |
|---|---|
motor |
The motor to check if it is done spinning:
|
Example
when started
[Flash the Touch LED while the lift is moving.]
spin [LiftMotor v] [up v] for [600] [degrees v] ◀ and don't wait
wait [0.1] seconds
repeat until <[LiftMotor v] is done?>
set [TouchLED v] color to [red v]
wait [0.5] seconds
set [TouchLED v] color to [none v]
wait [0.5] seconds
end
motor is spinning?#
The motor is spinning? block returns a Boolean indicating whether the motor is spinning.
True - The motor is spinning.
False - The motor is not spinning.
<[ClawMotor v] is spinning?>
Parameters |
Description |
|---|---|
motor |
The motor to check if it is currently spinning:
|
Example
when started
[Flash the Touch LED while the lift is spinning.]
spin [LiftMotor v] [up v] for [600] [degrees v] ◀ and don't wait
wait [0.1] seconds
repeat until <not <[LiftMotor v] is spinning?>>
set [TouchLED v] color to [red v]
wait [0.5] seconds
set [TouchLED v] color to [none v]
wait [0.5] seconds
end
motor velocity#
The motor velocity block returns the current rotational speed of the motor in a range from -100% to 100%.
([ClawMotor v] velocity in [% v] :: custom-motion)
Parameters |
Description |
|---|---|
motor |
The motor to return the velocity of:
|
unit |
The unit that represents the velocity:
|
Example
when started
set [LiftMotor v] velocity to [100] [% v]
spin [LiftMotor v] [up v] for [600] [degrees v] ◀ and don't wait
wait [0.5] seconds
print ([LiftMotor v] velocity in [% v] :: custom-motion) ▶
AI Vision#
Actions#
get object data#
The get object data block filters data from the IQ AI Vision Sensor frame. The IQ AI Vision Sensor can detect Game Elements on the field.
The dataset stores objects ordered from largest to smallest by width, starting at index 0. Each object’s properties can be accessed using the object property block. An empty dataset is returned if no matching objects are detected.
get [AI Classifications v] data from [AIVision v]
Parameter |
Description |
|---|---|
signature |
Filters the dataset to only include data of the given signature. The only available signature is:
|
Example
when started
[Place the Red Pin on the top left Blue Pin.]
spin [LiftMotor v] [up v] for [600] [degrees v] ▶
turn [left v] for [38] degrees ▶
repeat until <([AIVision v] object [width v]) [math_greater_than v] [48]>
get [AI Classifications v] data from [AIVision v]
drive [forward v]
end
drive [forward v] for [160] [mm v] ▶
spin [ClawMotor v] [open v]
Settings#
set object item#
The set object item block sets which item in the dataset to use.
set [AIVision v] object item to [1]
Parameters |
Description |
|---|---|
item |
The number of the item in the dataset to use. |
Example
when started
[Find the object index of the nearest Orange Pin.]
set [object_counter v] to [1]
get [AI Classifications v] data from [AIVision v]
repeat ([AIVision v] object count)
set [AIVision v] object item to (object_counter)
if <[AIVision v] object is [Orange Pin v]> then
print (join [Nearest Orange Pin is ] (object_counter)) ▶
else
change [object_counter v] by [1]
end
end
Values#
object exists?#
The object exists? block returns a Boolean indicating whether any object is detected in the dataset.
True - The dataset includes a detected object.
False - The dataset does not include any detected objects.
<[AIVision v] object exists?>
Parameters |
Description |
|---|---|
This block has no parameters. |
Example
when started
[Raise the Lift until a Pin or Beam is detected.]
repeat until <[AIVision v] object exists?>
get [AI Classifications v] data from [AIVision v]
spin [LiftMotor v] [up v]
end
stop [LiftMotor v]
object count#
The object count block returns the number of detected objects in the dataset as an integer.
([AIVision v] object count)
Parameters |
Description |
|---|---|
This block has no parameters. |
Example
when started
get [AI Classifications v] data from [AIVision v]
print ([AIVision v] object count) ▶
object property#
There are six properties that are included with each object stored after the get object data block is used.
([AIVision v] object [width v])
Some property values are based on the detected object’s position in the IQ AI Vision Sensor’s view at the time that the get object data block was used. The IQ AI Vision Sensor has a resolution of 320 by 240 pixels.
Parameter |
Description |
|---|---|
property |
Which property of the detected object to use: |
width#
width returns the width of the detected object in pixels as an integer from 1 to 320.
([AIVision v] object [width v])
height#
height returns the height of the detected object in pixels as an integer from 1 to 240.
([AIVision v] object [height v])
centerX#
centerX returns the x-coordinate of the center of the detected object in pixels as an integer from 0 to 320.
([AIVision v] object [centerX v])
centerY#
centerY returns the y-coordinate of the center of the detected object in pixels as an integer from 0 to 240.
([AIVision v] object [centerY v])
originX#
originX returns the x-coordinate of the top-left corner of the detected object’s bounding box in pixels as an integer from 0 to 320.
([AIVision v] object [originX v])
originY#
originY returns the y-coordinate of the top-left corner of the detected object’s bounding box in pixels as an integer from 0 to 240.
([AIVision v] object [originY v])
AI Classification is#
The AI Vision object is? block returns a Boolean indicating whether a detected object matches a specific classification.
True - The item in the dataset is the specific object.
False - The item in the dataset is not the specific object.
<[AIVision v] object is [Beam v]?>
Parameter |
Description |
|---|---|
object |
Which object to compare the item to:
|
Example
when started
[Find the object index of the nearest Orange Pin.]
set [object_counter v] to [1]
get [AI Classifications v] data from [AIVision v]
repeat ([AIVision v] object count)
set [AIVision v] object item to (object_counter)
if <[AIVision v] object is [Orange Pin v]> then
print (join [Nearest Orange Pin is ] (object_counter)) ▶
else
change [object_counter v] by [1]
end
end
Sensing#
Optical#
Optical found an object?#
The Optical found an object? block returns a Boolean indicating whether the Optical Sensor has detected an object.
True - The Optical Sensor has detected an object.
False - The Optical Sensor has not detected an object.
<[Optical v] found an object?>
Parameters |
Description |
|---|---|
This block has no parameters. |
Example
when started
[Place a pin atop another pin.]
spin [LiftMotor v] [up v] for [600] [degrees v] ▶
drive [forward v] for (140) [mm v] ▶
spin [ClawMotor v] [open v]
wait until <not <[Optical v] found an object?>>
spin [LiftMotor v] to position [0] [degrees v] ▶
Optical detects color#
The Optical detects color? block returns a Boolean indicating whether the Optical Sensor has detected a specific color.
True - The Optical Sensor has detected the specified color.
False - The Optical Sensor has not detected the specified color.
<[Optical v] detects [red v]?>
Parameters |
Description |
|---|---|
color |
Which color to check for:
|
Example
when started
[Place a pin atop another pin.]
spin [LiftMotor v] [up v] for [600] [degrees v] ▶
drive [forward v] for (140) [mm v] ▶
spin [ClawMotor v] [open v]
wait until <[Optical v] detects [red v]?>
spin [LiftMotor v] to position [0] [degrees v] ▶
Optical brightness#
The Optical brightness block returns the amount of light detected by the Optical Sensor in a range from 0% to 100%.
([Optical v] brightness in %)
Parameters |
Description |
|---|---|
This block has no parameters. |
Optical hue#
The Optical hue block returns the hue value of the color detected by the Optical Sensor.
Hue values range from 0 to 359 degrees, corresponding to positions on the color wheel shown below.
([Optical v] hue in degrees)
Parameters |
Description |
|---|---|
This block has no parameters. |
when Optical#
The when Optical block runs its stack when the Optical Sensor detects or loses an object. You can have multiple when Optical blocks to run multiple stacks of blocks at once.
when [Optical v] [detects v] an object
Parameters |
Description |
|---|---|
action |
Which action triggers the hat block:
|
Example
when [Optical v] [loses v] an object
[Lower the lift when the object is no longer in the claw.]
spin [LiftMotor v] to position [0] [degrees v] ▶
Touch LED#
set TouchLED color#
The set TouchLED color block sets the color of the Touch LED.
set [TouchLED v] color to [none v]
Parameters |
Description |
|---|---|
color |
Sets the LED’s color to:
|
Example
when started
[Light the Touch LED while placing a pin.]
set [TouchLED v] color to [red v]
spin [LiftMotor v] [up v] for [600] [degrees v] ▶
drive [forward v] for (140) [mm v] ▶
spin [ClawMotor v] [open v]
set [TouchLED v] color to [none v]