Robot Specific Blocks

Introduction

The V5RC 25-26 Push Back Playground features blocks exclusive to the build designed for this Playground, including two motor options, AI Vision Sensor, Optical Sensor, and Game Positioning System (GPS).

All standard VEXcode VR Blocks are available for use in the V5RC 25-26 Push Back Playground.

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

Motion – Move and track the robot’s motors.

• Actions

  • spin – Spins the selected motor or motor group indefinitely.

  • spin for – Spins a motor or group for a specific distance in degrees or turns.

  • spin to position – Spins a motor or motor group to a set position.

  • stop motor – Stops a specific motor or motor group from spinning.

• Settings

  • set motor velocity – Sets the speed of a motor or motor group 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 or motor group.

• 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 AI Vision Sensor.

• Actions

  • get object data – Captures data for a specific object type, such as colors, pre-trained objects, or AprilTags.

• Settings

  • set object item – Selects a specific object from the list.

• Values

  • object exists? – Returns whether any classification was detected.

  • AI Classification is – Returns if a classification is detected.

  • object count – Returns how many objects were detected.

  • object property – Returns details such as:

    • width & height – Size of the object.

    • centerX & centerY – Center position coordinates in the sensor’s view.

    • originX & originY – Top-left corner position coordinates in the sensor’s view.

Sensing – Utilize the robot’s various sensors.

• Optical

  • Optical found object? – Returns whether an object is detected.

  • Optical detects color? – Returns whether a specific color is detected.

  • Optical brightness – Returns brightness in %.

  • Optical hue – Returns hue of the detected color.

  • when Optical – Executes attached blocks when the Optical Sensor detects or loses an object.

• GPS

  • GPS position – Returns the X or Y position from the GPS Sensor.

  • GPS heading – Returns the heading the robot is currently facing.

The examples in this project use the default Playground start position.

Motion

Actions

spin

The spin block spins a selected motor or motor group in a specified direction using the current motor velocity.

[ConveyorMotor v] [向上 v] 转

Parameters	Description
motor	The motor group to spin: ConveyorMotor IntakeMotor
direction	The direction to spin: ConveyorMotor up down IntakeMotor intake outtake

Example

当开始
[Pick up a second Block.]
[ConveyorMotor v] [向上 v] 转 [200] [度 v] ▶
[IntakeMotor v] [收集器 v] 转
驱动 [向前 v] [350] [毫米 v] ▶

spin for

The spin for block spins a selected motor or motor group for a specific amount of rotation using the current motor velocity, measured in degrees or turns.

[ConveyorMotor v] [向上 v] 转 (90) [度 v] ▶

Parameters	Description
motor	The motor group to spin: ConveyorMotor IntakeMotor
direction	The direction to spin: ConveyorMotor up down IntakeMotor intake outtake
distance	The rotation amount, as an integer or decimal.
unit	The unit of measurement representing the distance: degrees turns
expanding arrow	By default, this is a waiting block, so the motor will finish moving before running the next block. To make the motor start moving and immediately run the next block right away, expand the block to say and don’t wait.

Example

当开始
[Pick up a second Block.]
[ConveyorMotor v] [向上 v] 转 [200] [度 v] ▶
[IntakeMotor v] [收集器 v] 转
驱动 [向前 v] [350] [毫米 v] ▶

spin to position

The spin to position block spins a motor or motor group to a specific absolute position using the current motor velocity and motor position.

[ConveyorMotor v] 转至 (90) [度 v] ▶

Parameters	Description
motor	The motor group to spin: ConveyorMotor IntakeMotor
position	The target position to spin the motor group to.
unit	The unit of measurement: degrees turns
expanding arrow	By default, this is a waiting block, so the motor will finish moving before running the next block. To make the motor start moving and immediately run the next block right away, expand the block to say and don’t wait.

Example

当开始
[Pick up a second Block.]
[ConveyorMotor v] 转至 [200] [度 v] ▶
[IntakeMotor v] [收集器 v] 转
驱动 [向前 v] [350] [毫米 v] ▶

stop motor

The stop motor block immediately stops the selected motor or motor group.

[ConveyorMotor v] 停止

Parameters	Description
motor	The motor group to stop: ConveyorMotor IntakeMotor

Example

当开始
[Pick up a second Block.]
[ConveyorMotor v] [向上 v] 转 [200] [度 v] ▶
[IntakeMotor v] [收集器 v] 转
驱动 [向前 v] [350] [毫米 v] ▶
[IntakeMotor v] 停止

Settings

set motor velocity

The set motor velocity block sets the default spinning speed of a motor or motor group as a percentage for all subsequent Motor blocks in the project.

设定 [ConveyorMotor v] 转速为 [50] [% v]

Parameters	Description
motor	The motor group to set the velocity of: ConveyorMotor IntakeMotor
velocity	Sets the default movement velocity from 0 to 100 as a percent.
unit	The unit that represents the velocity: %

Example

当开始
[Pick up a second Block.]
设定 [ConveyorMotor v] 转速为 [100] [% v]
[ConveyorMotor v] [向上 v] 转 [200] [度 v] ▶
[IntakeMotor v] [收集器 v] 转
驱动 [向前 v] [400] [毫米 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.

Note: The Motor’s time limit is used to prevent Motor blocks that do not reach their target position from stopping the execution of other blocks in the stack.

设定 [ConveyorMotor v] 超时为 [1] 秒

Parameters	Description
motor	The motor group to set the timeout of: ConveyorMotor IntakeMotor
time	The maximum number of seconds a Motor block will run before stopping and moving to the next block.

Example

当开始
[Pick up a second Block.]
设定 [ConveyorMotor v] 超时为 [0.5] 秒
[ConveyorMotor v] 转至 [1000] [度 v] ▶
[IntakeMotor v] [收集器 v] 转
驱动 [向前 v] [400] [毫米 v] ▶

Position

motor position

The motor position block returns the total distance the selected motor or motor group has rotated.

([ConveyorMotor v] 转位 [度 v])

Parameters	Description
motor	The motor group to return the position of: ConveyorMotor IntakeMotor
unit	The unit of measurement: degrees turns

Example

当开始
[Pick up a second Block.]
当 <([ConveyorMotor v] 转位 [度 v]) [math_less_than v] [200]>
[ConveyorMotor v] [向上 v] 转
结束
[ConveyorMotor v] 停止
[IntakeMotor v] [收集器 v] 转
驱动 [向前 v] [400] [毫米 v] ▶

set motor position

The set motor position block sets a specific position value to a motor or motor group, which updates the encoder reading.

设定 [ConveyorMotor v] 转位至 (0) [度 v]

Parameters	Description
motor	The motor group to set the position of: ConveyorMotor IntakeMotor
position	The encoder position value to set.
unit	The unit of measurement: degrees turns

Example

当开始
[Pick up a second Block.]
设定 [ConveyorMotor v] 转位至 [-200] [度 v]
[ConveyorMotor v] 转至 [0] [度 v] ▶
[IntakeMotor v] [收集器 v] 转
驱动 [向前 v] [400] [毫米 v] ▶

Values

motor is done

The motor is done? block returns a Boolean indicating whether the motor or motor group is not spinning.

• True – The motor is not spinning.

• False – The motor is spinning.

<[ConveyorMotor v] 已结束？>

Parameters	Description
motor	The motor group to check if it isn’t spinning: ConveyorMotor IntakeMotor

Example

当开始
[Pick up a second Block.]
[ConveyorMotor v] 转至 [300] [度 v] ◀ 并且不等待
驱动 [向前 v]
[IntakeMotor v] [收集器 v] 转
等到 <[ConveyorMotor v] 已结束？>
驱动停止
[IntakeMotor v] 停止

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.

<[ConveyorMotor v] 正在转？>

Parameters	Description
motor	The motor group to check if it is spinning: ConveyorMotor IntakeMotor

Example

当开始
[Pick up a second Block.]
[ConveyorMotor v] 转至 [300] [度 v] ◀ 并且不等待
等待 [0.1] 秒
当 <[ConveyorMotor v] 正在转？>
驱动 [向前 v] [200] [毫米 v] ▶
[IntakeMotor v] [收集器 v] 转

motor velocity

The motor velocity block returns the current rotational speed of the motor or motor group in a range from -100% to 100%.

([ConveyorMotor v] 速度 [% v] 值 :: custom-motion)

Parameters	Description
motor	The motor group to return the velocity of: ConveyorMotor IntakeMotor
unit	The unit that represents the velocity: %

Example

当开始
[Pick up a second Block.]
设定 [ConveyorMotor v] 转速为 [100] [% v]
[ConveyorMotor v] 转至 [300] [度 v] ◀ 并且不等待
等待 [0.2] 秒
打印 ([ConveyorMotor v] 速度 [% v] 值 :: custom-motion) ▶
[IntakeMotor v] [收集器 v] 转
驱动 [向前 v] [400] [毫米 v] ▶

AI Vision

Actions

get object data

The get object data block filters data from the AI Vision Sensor frame. The 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 AI Vision object property block. An empty dataset is returned if no matching objects are detected.

The Get object data stack block.

从 AI 视觉仪获取 [AI Classifications v] 数据

Parameter	Description
signature	Filters the dataset to only include data of the given signature. The only available signature is: AI Classifications – Detects Red and Blue Blocks.

Example

当开始
[If an object is detected, pick it up.]
[ConveyorMotor v] [向上 v] 转 [200] [度 v] ▶
永久循环
从 [AIVision v]获取 [AI Classifications v] 数据
如果 <[AIVision v] 对象存在？> 那么
[IntakeMotor v] [收集器 v] 转
驱动 [向前 v]
等到 <[Bumper v] 按下了？>
驱动停止
退出循环

Settings

set object item

The set object item block sets which item in the dataset to use.

The Set AI Vision object item stack block.

设定 [AIVision v] 对象标号为 [1]

Parameters	Description
item	The number of the item in the dataset to use.

Example

当开始
[Display what object is farthest away.]
永久循环
从 [AIVision v]获取 [AI Classifications v] 数据
如果 <[AIVision v] 对象存在？> 那么
设定 [AIVision v] 对象标号为 ([AIVision v] 对象数目)
清除所有行
如果 <[AIVision v] object is [BlueBlock v]?> 那么
打印 [Blue Block farthest away.] ▶
否则
打印 [Red Block farthest away.] ▶

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.

The AI Vision object exists Boolean block.

<AI 视觉仪对象存在？>

Parameters	Description
	This block has no parameters.

Example

当开始
[If an an object is detected, pick it up.]
[ConveyorMotor v] [向上 v] 转 [200] [度 v] ▶
永久循环
从 [AIVision v]获取 [AI Classifications v] 数据
如果 <[AIVision v] 对象存在？> 那么
[IntakeMotor v] [收集器 v] 转
驱动 [向前 v]
等到 <[Bumper v] 按下了？>
驱动停止
退出循环

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.

The AI Vision AI Classification is object Boolean block.

<[AIVision] object is [BlueBlock v]?>

Parameter	Description
object	Which object to compare the item to: sports ball orange barrel blue barrel AIM robot

Example

当开始
[Display what object is farthest away.]
永久循环
从 [AIVision v]获取 [AI Classifications v] 数据
如果 <[AIVision v] 对象存在？> 那么
设定 [AIVision v] 对象标号为 ([AIVision v] 对象数目)
清除所有行
如果 <[AIVision v] object is [BlueBlock v]?> 那么
打印 [Blue Block farthest away.] ▶
否则
打印 [Red Block farthest away.] ▶

object count

The object count block returns the number of detected objects in the dataset as an integer.

The Set AI Vision object item stack block.

([AIVision] 对象数目)

Parameters	Description
	This block has no parameters.

Example

当开始
[Display what object is farthest away.]
永久循环
从 [AIVision v]获取 [AI Classifications v] 数据
如果 <[AIVision v] 对象存在？> 那么
设定 [AIVision v] 对象标号为 ([AIVision v] 对象数目)
清除所有行
如果 <[AIVision v] object is [BlueBlock v]?> 那么
打印 [Blue Block farthest away.] ▶
否则
打印 [Red Block farthest away.] ▶

object property

There are six properties that are included with each object (shown below) stored after the get object data block is used.

The AI Vision object property reporter block.

([AIVision v] 对象 [宽 v])

Some property values are based off of the detected object’s position in the AI Vision Sensor’s view at the time that the get object data block was used. The AI Vision Sensor has a resolution of 320 by 240 pixels.

Parameter	Description
property	Which property of the detected object to use: width height centerX centerY originX originY

width

width returns the width of the detected object in pixels as an integer from 1 to 320.

The AI Vision object property stack block with its parameter set to width.

([AIVision v] 对象 [宽 v])

Example

当开始
[If an an object is detected, approach and pick it up.]
[ConveyorMotor v] [向上 v] 转 [200] [度 v] ▶
永久循环
从 [AIVision v]获取 [AI Classifications v] 数据
如果 <[AIVision v] 对象存在？> 那么
如果 <([AIVision v] 对象 [宽 v]) [math_greater_than v] [65]> 那么
驱动停止
退出循环
否则
[IntakeMotor v] [收集器 v] 转
驱动 [向前 v]

height

height returns the height of the detected object in pixels as an integer from 1 to 240.

The AI Vision object property stack block with its parameter set to height.

([AIVision v] 对象 [高 v])

Example

当开始
[If an an object is detected, approach and pick it up.]
[ConveyorMotor v] [向上 v] 转 [200] [度 v] ▶
永久循环
从 [AIVision v]获取 [AI Classifications v] 数据
如果 <[AIVision v] 对象存在？> 那么
如果 <([AIVision v] 对象 [高 v]) [math_greater_than v] [55]> 那么
驱动停止
退出循环
否则
[IntakeMotor v] [收集器 v] 转
驱动 [向前 v]

centerX

centerX returns the x-coordinate of the center of the detected object in pixels as an integer from 0 to 320.

The AI Vision object property stack block with its parameter set to centerX.

([AIVision v] 对象 [中心X坐标 v])

Example

当开始
[Pick up a Block from the top left group.]
[ConveyorMotor v] [向上 v] 转 [200] [度 v] ▶
[左 v] 转 [80] 度 ▶
驱动 [向前 v] [100] [毫米 v] ▶
设定转向速度为 [20] [% v]
[左 v] 转
永久循环
从 [AIVision v]获取 [AI Classifications v] 数据
如果 <[AIVision v] 对象存在？> 那么
如果 <<[140] [math_less_than v] ([AIVision v] 对象 [中心X坐标 v])> 与 <([AIVision v] 对象 [中心X坐标 v]) [math_less_than v] [180]>> 那么
[IntakeMotor v] [收集器 v] 转
驱动 [向前 v]
等到 <[Bumper v] 按下了？>
驱动停止

centerY

centerY returns the y-coordinate of the center of the detected object in pixels as an integer from 0 to 240.

The AI Vision object property stack block with its parameter set to centerY.

([AIVision v] 对象 [中心Y坐标 v])

Example

当开始
[If an an object is detected, approach and pick it up.]
[ConveyorMotor v] [向上 v] 转 [200] [度 v] ▶
永久循环
从 [AIVision v]获取 [AI Classifications v] 数据
如果 <[AIVision v] 对象存在？> 那么
如果 <([AIVision v] 对象 [中心Y坐标 v]) [math_greater_than v] [140]> 那么
驱动停止
退出循环
否则
[IntakeMotor v] [收集器 v] 转
驱动 [向前 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.

The AI Vision object property stack block with its parameter set to originX.

([AIVision v] 对象 [原点X v])

Example

当开始
[Pick up a Block from the top left group.]
[ConveyorMotor v] [向上 v] 转 [200] [度 v] ▶
[左 v] 转 [80] 度 ▶
驱动 [向前 v] [100] [毫米 v] ▶
设定转向速度为 [20] [% v]
[左 v] 转
永久循环
从 [AIVision v]获取 [AI Classifications v] 数据
如果 <[AIVision v] 对象存在？> 那么
如果 <<[100] [math_less_than v] ([AIVision v] 对象 [原点X v])> 与 <([AIVision v] 对象 [原点X v]) [math_less_than v] [140]>> 那么
[IntakeMotor v] [收集器 v] 转
驱动 [向前 v]
等到 <[Bumper v] 按下了？>
驱动停止

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.

The AI Vision object property stack block with its parameter set to originY.

([AIVision v] 对象 [原点Y v])

Example

当开始
[If an an object is detected, approach and pick it up.]
[ConveyorMotor v] [向上 v] 转 [200] [度 v] ▶
永久循环
从 [AIVision v]获取 [AI Classifications v] 数据
如果 <[AIVision v] 对象存在？> 那么
如果 <[120] [math_less_than v] ([AIVision v] 对象 [原点Y v])> 那么
驱动停止
退出循环
否则
[IntakeMotor v] [收集器 v] 转
驱动 [向前 v]
结束
结束

Sensing

Optical

Optical found object?

The Optical found 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] 发现对象？>

Parameters	Description
	This block has no parameters.

Example

当开始
[Move the preloaded Block to the top of the Conveyor.]
[ConveyorMotor v] [向上 v] 转
等到 <[Optical v] 发现对象？>
[ConveyorMotor v] 停止

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] 测得 [红色 v]？>

Parameters	Description
color	Which color to check for: red green blue yellow orange purple

Example

当开始
[Pick up and move a Blue Block to the top of the Conveyor.]
[ConveyorMotor v] [向上 v] 转 [200] [度 v] ▶
[IntakeMotor v] [收集器 v] 转
驱动 [向前 v] [360] [毫米 v] ▶
[ConveyorMotor v] [向上 v] 转
等到 <[Optical v] 测得 [蓝色 v]？>
[ConveyorMotor v] 停止

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] 亮度百分比)

Parameters	Description
	This block has no parameters.

Example

当开始
[Move the preloaded Block to the top of the Conveyor.]
[ConveyorMotor v] [向上 v] 转
等到 <[0] [math_less_than v] ([Optical v] 亮度百分比)>
[ConveyorMotor v] 停止

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] 色调度数)

Parameters	Description
	This block has no parameters.

Example

当开始
[Pick up and move a Blue Block to the top of the Conveyor.]
[ConveyorMotor v] [向上 v] 转 [200] [度 v] ▶
[IntakeMotor v] [收集器 v] 转
驱动 [向前 v] [360] [毫米 v] ▶
[ConveyorMotor v] [向上 v] 转
等到 <[240] [math_equal v] ([Optical v] 色调度数)>
[ConveyorMotor v] 停止

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.

当 [Optical v] [detects v] 一个对象

Parameters	Description
action	Which action to trigger the hat block: detects loses

Example

Example coming soon!

GPS

GPS position

The GPS position block returns the positional offset of the robot’s turning reference point from the center of a field with the GPS (Game Positioning System™) Sensor.

([GPS v] [X v] 位置 [毫米 v])

Parameters	Description
axis	Which acis to report: X Y
units	The unit to represent the position: mm inches

Example

当开始
[Pick up a second Block.]
[ConveyorMotor v] 转至 [200] [度 v] ▶
[IntakeMotor v] [收集器 v] 转
驱动 [向前 v]
等到 <[-450] [math_greater_than v] ([GPS v] [Y v] 位置 [毫米 v])>
驱动停止

GPS heading

The GPS heading block returns the heading that the robot is currently facing based on the GPS (Game Positioning System™) Sensor’s readings from the VEX GPS Field Code from 0.00 to 359.99 degrees.

([GPS v] 归位角度值)

Parameters	Description
	This block has no parameters.

Example

当开始
[Score the preloaded Block into a Center Goal.]
[左 v] 转
等到 <[40] [math_greater_than v] ([GPS v] 归位角度值)>
驱动 [向前 v] [1000] [毫米 v] ▶
[右 v] 转
等到 <([GPS v] 归位角度值) [math_greater_than v] [310]>
驱动 [反 v] [200] [毫米 v] ▶
[ConveyorMotor v] [向上 v] 转