宏#

介绍 #

VEX AIM 编码机器人包含预置宏——将多组命令捆绑成可重复使用的代码序列。每个宏执行一个完整的行为，例如表达情绪或使用 AI 视觉传感器查找并接近物体。以下是可用宏的列表：

情感——让机器人表现出情感。

act_happy – Makes the robot act happy.
act_sad – Makes the robot act sad.
act_silly – Makes the robot act silly.
act_angry – Makes the robot act angry.
act_excited – Makes the robot act excited.

AI 视觉（运动球）——转向并获取运动球。

turn_right_until_sports_ball – Turns right until a sports ball is detected.
turn_left_until_sports_ball – Turns left until a sports ball is detected.
get_sports_ball – Moves to collect a sports ball.

人工智能视觉（橙色桶）——转向并获取橙色桶。

turn_right_until_orange_barrel – Turns right until an orange barrel is detected.
turn_left_until_orange_barrel – Turns left until an orange barrel is detected.
get_orange_barrel – Moves to collect an orange barrel.

人工智能视觉（蓝色桶）——转向并获取蓝色桶。

turn_right_until_blue_barrel – Turns right until a blue barrel is detected.
turn_left_until_blue_barrel – Turns left until a blue barrel is detected.
get_blue_barrel – Moves to collect a blue barrel.

AI 视觉（AIM 机器人）——转向并向其他 AIM 机器人移动。

turn_right_until_aim_robot – Turns right until another AIM Robot is detected.
turn_left_until_aim_robot – Turns left until another AIM Robot is detected.
move_to_aim_robot – Moves toward another AIM Robot.

AI 视觉（AprilTag）——转向并朝 AprilTags 移动。

turn_right_until_april_tag – Turns right until AprilTag is detected.
turn_left_until_april_tag – Turns left until AprilTag is detected.
move_to_april_tag – Moves toward AprilTag.

情绪 #

act happy #

这套方法让机器人表现得很开心。

# act happy
robot.screen.show_emoji(HAPPY)
wait(.5,SECONDS)
robot.sound.play(ACT_HAPPY)
wait(115, MSEC)

robot.screen.show_emoji(HAPPY, LOOK_RIGHT)
robot.led.on(ALL_LEDS, YELLOW)
robot.turn_for(RIGHT, 4, 100)
robot.led.on(ALL_LEDS, WHITE)
robot.screen.show_emoji(HAPPY, LOOK_LEFT)
robot.turn_for(RIGHT, -8, 100)
robot.led.on(ALL_LEDS, YELLOW)
robot.screen.show_emoji(HAPPY, LOOK_RIGHT)
robot.turn_for(RIGHT, 4, 100)

wait(100,MSEC)
for i in range(3):
    robot.screen.show_emoji(QUIET)
    robot.led.on(ALL_LEDS, WHITE)
    robot.move_for(1,-90)
    robot.screen.show_emoji(HAPPY)
    robot.led.on(ALL_LEDS, YELLOW)
    robot.move_for(1,90)

robot.stop_all_movement()
robot.led.off(ALL_LEDS)
wait(.5,SECONDS)

act sad #

这套方法让机器人表现得悲伤起来。

# act sad
robot.screen.show_emoji(SAD)
wait(.5,SECONDS)
robot.sound.play(ACT_SAD)
wait(115, MSEC)

robot.led.on(ALL_LEDS, Color(0, 0, 250))
robot.screen.show_emoji(SAD, LOOK_RIGHT)
robot.move_for(11, 135, 70)
robot.led.on(ALL_LEDS, Color(0, 0, 100))
robot.screen.show_emoji(SAD, LOOK_FORWARD)
robot.move_for(11, 315, 70)
robot.led.on(ALL_LEDS, Color(0, 0, 50))
robot.screen.show_emoji(SAD, LOOK_LEFT)
robot.move_for(11, 225, 70)
robot.led.on(ALL_LEDS, Color(0, 0, 10))
robot.screen.show_emoji(SAD, LOOK_FORWARD)
robot.move_for(11, 45, 70)
wait(.5,SECONDS)
robot.led.off(ALL_LEDS)

act silly #

这套方法让机器人做出傻乎乎的行为。

# act silly
robot.screen.show_emoji(SILLY)
wait(.5,SECONDS)
robot.sound.play(ACT_SILLY)
wait(115,MSEC)

robot.turn_for(RIGHT, 360, 100, wait=False)
face_list = [SILLY, HAPPY, EXCITED, PROUD, THRILLED, LAUGHING]
colors = [BLUE, CYAN, GREEN, ORANGE, PURPLE, RED, WHITE, YELLOW]

while robot.is_turn_active():
    robot.screen.show_emoji(SILLY)
    robot.led.on(ALL_LEDS, random.choice(colors))
    wait(110,MSEC)
    robot.screen.show_emoji(random.choice(face_list))
    wait(110,MSEC)

robot.screen.show_emoji(SILLY)
robot.led.off(ALL_LEDS)
wait(.5,SECONDS)

act angry #

这套方法让机器人表现出愤怒。

# act angry
robot.screen.show_emoji(ANGRY)
wait(.5,SECONDS)
robot.sound.play(ACT_ANGRY)
wait(115,MSEC)

robot.led.on(ALL_LEDS, RED)
robot.move_for(25, 0, 50)
wait(50,MSEC)

for i in range(5):
    robot.screen.show_emoji(ANNOYED)
    robot.move_for(5, 180, 50)
    robot.screen.show_emoji(ANGRY)
    wait(50,MSEC)

wait(.5,SECONDS)
robot.led.off(ALL_LEDS)

act excited #

这套方法让机器人表现得兴奋不已。

# act excited
robot.screen.show_emoji(EXCITED)
wait(.5,SECONDS)
robot.sound.play(ACT_EXCITED)
wait(115, MSEC)

for angle in [3,-3,2,-2,2,-2,2,-2,1,-1]:
    if angle > 0:
        robot.screen.show_emoji(EXCITED, LOOK_RIGHT)
        robot.led.on(LED4, ORANGE)
        robot.led.on(LED5, ORANGE)
        robot.led.on(LED6, ORANGE)
        robot.led.off(LED1)
    else:
        robot.screen.show_emoji(EXCITED, LOOK_LEFT)
        robot.led.on(LED1, ORANGE)
        robot.led.on(LED2, ORANGE)
        robot.led.on(LED3, ORANGE)
        robot.led.off(LED6)
    robot.turn_for(RIGHT, angle)
    robot.led.off(ALL_LEDS)

robot.screen.show_emoji(EXCITED, LOOK_FORWARD)
wait(.5,SECONDS)

AI视觉（运动球）#

turn right until sports ball #

这组方法使机器人向右转，直到AI视觉传感器检测到运动球。

Note: If the robot appears to be having difficulties with detecting objects, try lowering the robot’s turn velocity with set_turn_velocity.

# Turn right until sports ball is detected
robot.turn(RIGHT)
while True:
    vision_data = robot.vision.get_data(SPORTS_BALL)

    if vision_data[0].exists:
        # Turn to the object by adding your current heading and the vision bearing offset
        robot.turn_to(robot.inertial.heading() + vision_data[0].bearing)
        break
    wait(20, MSEC)

turn left until sports ball #

这组方法使机器人向左转，直到AI视觉传感器检测到运动球。

Note: If the robot appears to be having difficulties with detecting objects, try lowering the robot’s turn velocity with set_turn_velocity.

# Turn left until sports ball is detected
robot.turn(LEFT)
while True:
    vision_data = robot.vision.get_data(SPORTS_BALL)

    if vision_data[0].exists:
        # Turn to the object by adding your current heading and the vision bearing offset
        robot.turn_to(robot.inertial.heading() + vision_data[0].bearing)
        break
    wait(20, MSEC)

get sports ball #

这组方法使机器人移动去收集运动球。

Note: If the robot appears to be having difficulties with detecting objects, try lowering the robot’s move and turn velocities with set_move_velocity and set_turn_velocity.

# Get sports ball
while True:
    vision_data = robot.vision.get_data(SPORTS_BALL)

    if vision_data[0].exists:
        if robot.has_sports_ball():
            robot.stop_all_movement()
            break
        else:
            robot.move_at(vision_data[0].bearing)
    else:
        robot.move_at(0)
    wait(20, MSEC)

AI视觉（橙色桶）#

turn right until orange barrel #

这组方法使机器人向右转，直到AI视觉传感器检测到橙色桶。

Note: If the robot appears to be having difficulties with detecting objects, try lowering the robot’s turn velocity with set_turn_velocity.

# Turn right until orange barrel is detected
robot.turn(RIGHT)
while True:
    vision_data = robot.vision.get_data(ORANGE_BARREL)

    if vision_data[0].exists:
        # Turn to the object by adding your current heading and the vision bearing offset
        robot.turn_to(robot.inertial.heading() + vision_data[0].bearing)
        break
    wait(20, MSEC)

turn left until orange barrel #

这组方法使机器人向左转，直到AI视觉传感器检测到橙色桶。

Note: If the robot appears to be having difficulties with detecting objects, try lowering the robot’s turn velocity with set_turn_velocity.

# Turn left until orange barrel is detected
robot.turn(LEFT)
while True:
    vision_data = robot.vision.get_data(ORANGE_BARREL)

    if vision_data[0].exists:
        # Turn to the object by adding your current heading and the vision bearing offset
        robot.turn_to(robot.inertial.heading() + vision_data[0].bearing)
        break
    wait(20, MSEC)

get orange barrel #

这组方法让机器人移动去收集一个橙色的桶。

Note: If the robot appears to be having difficulties with detecting objects, try lowering the robot’s move and turn velocities with set_move_velocity and set_turn_velocity.

# Get orange barrel
while True:
    vision_data = robot.vision.get_data(ORANGE_BARREL)

    if vision_data[0].exists:
        if robot.has_orange_barrel():
            robot.stop_all_movement()
            break
        else:
            robot.move_at(vision_data[0].bearing)
    else:
        robot.move_at(0)
    wait(20, MSEC)

人工智能视觉（蓝桶）#

turn right until blue barrel #

这组方法使机器人向右转，直到AI视觉传感器检测到蓝色桶。

Note: If the robot appears to be having difficulties with detecting objects, try lowering the robot’s turn velocity with set_turn_velocity.

# Turn right until blue barrel is detected
robot.turn(RIGHT)
while True:
    vision_data = robot.vision.get_data(BLUE_BARREL)

    if vision_data[0].exists:
        # Turn to the object by adding your current heading and the vision bearing offset
        robot.turn_to(robot.inertial.heading() + vision_data[0].bearing)
        break
    wait(20, MSEC)

turn left until blue barrel #

这组方法使机器人向左转动，直到AI视觉传感器检测到蓝色桶。

Note: If the robot appears to be having difficulties with detecting objects, try lowering the robot’s turn velocity with set_turn_velocity.

# Turn left until blue barrel is detected
robot.turn(LEFT)
while True:
    vision_data = robot.vision.get_data(BLUE_BARREL)

    if vision_data[0].exists:
        # Turn to the object by adding your current heading and the vision bearing offset
        robot.turn_to(robot.inertial.heading() + vision_data[0].bearing)
        break
    wait(20, MSEC)

get blue barrel #

这组方法让机器人移动去收集蓝色桶。

Note: If the robot appears to be having difficulties with detecting objects, try lowering the robot’s move and turn velocities with set_move_velocity and set_turn_velocity.

# Get blue barrel
while True:
    vision_data = robot.vision.get_data(BLUE_BARREL)

    if vision_data[0].exists:
        if robot.has_blue_barrel():
            robot.stop_all_movement()
            break
        else:
            robot.move_at(vision_data[0].bearing)
    else:
        robot.move_at(0)
    wait(20, MSEC)

人工智能视觉（AIM机器人）#

turn right until AIM robot #

这组方法使机器人向右转，直到 AI 视觉传感器检测到 VEX AIM 编码机器人。

Note: If the robot appears to be having difficulties with detecting objects, try lowering the robot’s turn velocity with set_turn_velocity.

# Turn right until AIM robot is detected
robot.turn(RIGHT)
while True:
    vision_data = robot.vision.get_data(AIM_ROBOT)

    if vision_data[0].exists:
        # Turn to the object by adding your current heading and the vision bearing offset
        robot.turn_to(robot.inertial.heading() + vision_data[0].bearing)
        break
    wait(20, MSEC)

turn left until AIM robot #

这组方法使机器人向左转动，直到 AI 视觉传感器检测到 VEX AIM 编码机器人。

Note: If the robot appears to be having difficulties with detecting objects, try lowering the robot’s turn velocity with set_turn_velocity.

# Turn left until AIM robot is detected
robot.turn(LEFT)
while True:
    vision_data = robot.vision.get_data(AIM_ROBOT)

    if vision_data[0].exists:
        # Turn to the object by adding your current heading and the vision bearing offset
        robot.turn_to(robot.inertial.heading() + vision_data[0].bearing)
        break
    wait(20, MSEC)

move to AIM robot #

这套方法让机器人向VEX AIM编码机器人靠拢。

Note: If the robot appears to be having difficulties with detecting objects, try lowering the robot’s move and turn velocities with set_move_velocity and set_turn_velocity.

# Move to AIM robot
while True:
    vision_data = robot.vision.get_data(AIM_ROBOT)

    if vision_data[0].exists:
        if vision_data[0].width >= 140:
            robot.stop_all_movement()
            break
        else:
            robot.move_at(vision_data[0].bearing)
    else:
        robot.move_at(0)
    wait(20, MSEC)

人工智能视觉（AprilTag）#

turn right until AprilTag #

这组方法使机器人向右转动，直到 AI 视觉传感器检测到 AprilTag ID 0。要更改机器人将转到哪个 AprilTag，请将 0 中的 TAG0 替换为 0 到 37 之间的任意数字（AprilTags 5 到 37 可与 AIM Printables 中打印的 AprilTag 一起使用。）

Note: If the robot appears to be having difficulties with detecting objects, try lowering the robot’s turn velocity with set_turn_velocity.

# Turn right until AprilTag ID 0 is detected
robot.turn(RIGHT)
while True:
    vision_data = robot.vision.get_data(TAG0)

    if vision_data[0].exists:
        # Turn to the object by adding your current heading and the vision bearing offset
        robot.turn_to(robot.inertial.heading() + vision_data[0].bearing)
        break
    wait(20, MSEC)

turn left until AprilTag #

这组方法使机器人向左转动，直到 AI 视觉传感器检测到 AprilTag ID 0。要更改机器人将转向到哪个 AprilTag，请将 0 中的 TAG0 替换为 0 到 37 之间的任意数字（AprilTags 5 到 37 可与 AIM Printables 中打印的 AprilTag 一起使用。）

Note: If the robot appears to be having difficulties with detecting objects, try lowering the robot’s turn velocity with set_turn_velocity.

# Turn left until AprilTag ID 0 is detected
robot.turn(LEFT)
while True:
    vision_data = robot.vision.get_data(TAG0)

    if vision_data[0].exists:
        # Turn to the object by adding your current heading and the vision bearing offset
        robot.turn_to(robot.inertial.heading() + vision_data[0].bearing)
        break
    wait(20, MSEC)

move to AprilTag #

这组方法使机器人向 AprilTag ID 0 移动。要更改机器人将移动到哪个 AprilTag，请将 0 中的 TAG0 替换为 0 到 37 之间的任意数字（AprilTags 5 到 37 可与 AIM Printables 中打印的 AprilTag 一起使用。）

Note: If the robot appears to be having difficulties with detecting objects, try lowering the robot’s move and turn velocities with set_move_velocity and set_turn_velocity.

# Move to AprilTag ID 0
while True:
    vision_data = robot.vision.get_data(TAG0)

    if vision_data[0].exists:
        if vision_data[0].width >= 60:
            robot.stop_all_movement()
            break
        else:
            robot.move_at(vision_data[0].bearing)
    else:
        robot.move_at(0)
    wait(20, MSEC)