机器人专用 Python#

介绍#

V5RC 25-26 Push Back 游乐场采用专为此游乐场设计的专属方法，包括两个电机选项、AI 视觉传感器、光学传感器和游戏定位系统 (GPS) 传感器。

所有标准 VEXcode VR 方法均可用于 V5RC 25-26 Push Back 游乐场。

以下是所有可用的 Playground 特定方法的列表：

运动——移动并跟踪机器人的马达。

  • 行动

    • spin – 无限旋转选定的电机或电机组。

    • spin_for – 使电机或电机组旋转特定距离（以度或圈为单位）。

    • spin_to_position – 将电机或电机组旋转到设定位置。

    • stop – 停止特定电机或电机组旋转。

  • 修改器

    • set_position – 设置电机或电机组的编码器值。

    • set_velocity – 以百分比设置电机或电机组的速度。

    • set_timeout – 限制运动受阻时电机阻止在放弃之前等待的时间。

  • 吸气剂

    • is_done – 返回一个布尔值，指示电机是否不再旋转。

    • is_spinning – 返回一个布尔值，指示电机当前是否正在旋转。

    • 位置 – 以度数或圈数返回电机当前的旋转位置。

    • velocity – 以 % 或 rpm 为单位返回电机当前速度。

AI 视觉 - 使用 AI 视觉传感器捕捉和分析物体。

  • 吸气剂

    • take_snapshot – 根据给定的签名返回检测到的对象元组。

  • 特性

    • width – 检测到的物体的宽度（以像素为单位）。

    • 高度 – 检测到的物体的高度（以像素为单位）。

    • centerX – 对象中心的 X 位置（以像素为单位）。

    • centerY – 对象中心的 Y 位置（以像素为单位）。

    • originX – 对象左上角的 X 位置（以像素为单位）。

    • originY – 对象左上角的 Y 位置（以像素为单位）。

    • id – 对象的分类或标签 ID。

感知——利用机器人的各种传感器。

  • 光学的

    • is_near_object – 返回检测到的物体是否靠近光学传感器。

    • color – 返回从光学传感器检测到的颜色。

    • 亮度 – 返回传感器检测到的亮度百分比。

    • 色调 - 返回检测到的颜色的色调值。

    • object_detected – 当光学传感器检测到物体时注册一个回调函数。

    • object_lost – 注册光学传感器丢失物体时的回调函数。

  • 全球定位系统

    • x_position – 返回场地上 GPS 传感器的当前 x 坐标。

    • y_position – 返回场地上 GPS 传感器的当前 y 坐标。

    • heading – 根据 GPS 传感器的读数（0 到 359 度）返回机器人当前面向的航向。

运动#

Actions#

旋转#

spin spins a motor or motor group in the specified direction indefinitely.

用法：
两个可用电机对象之一可与此方法一起使用，如下所示：

发动机

命令

intake_motor

intake_motor.spin(direction) — The Intake Motor

conveyor_motor

conveyor_motor.spin(direction) — The Conveyor Motor

参数

描述

方向

The direction for the motor to spin:

  • FORWARD – Spins the Conveyor up or the Intake in the intake direction.
  • REVERSE – Spins the Conveyor down or the Intake in the outtake direction. 

def main():
    # Pick up a second Block
    conveyor_motor.spin_for(FORWARD, 150, DEGREES)
    intake_motor.spin(FORWARD)
    drivetrain.drive_for(FORWARD, 350, MM)

spin_for#

spin_for spins a motor or motor group for a given amount of degrees or turns.

用法：
两个可用电机对象之一可与此方法一起使用，如下所示：

发动机

命令

intake_motor

intake_motor.spin_for(direction, distance, units, wait) — The Intake Motor

conveyor_motor

conveyor_motor.spin_for(direction, distance, units, wait) — The Conveyor Motor

参数

描述

direction

The direction for the motor to spin:

  • FORWARD – Spins the Conveyor up or the Intake in the intake direction.
  • REVERSE – Spins the Conveyor down or the Intake in the outtake direction.

distance

电机旋转的距离，为整数。

units

The unit that represents the distance to rotate:

  • DEGREES
  • TURNS

wait

Optional.

  • wait=True (default) - The robot waits until spin_for is complete before executing the next line of code.
  • wait=False - The robot starts the action and moves on to the next line of code right away, without waiting for spin_for to finish.

 
def main():
    # Pick up a second Block
    conveyor_motor.spin_for(FORWARD, 150, DEGREES)
    intake_motor.spin(FORWARD)
    drivetrain.drive_for(FORWARD, 350, MM)

旋转到位置#

spin_to spins a motor or motor group to a given position.

用法：
两个可用电机对象之一可与此方法一起使用，如下所示：

发动机

命令

intake_motor

intake_motor.spin_to_position(angle, units, wait=True) — The Intake Motor

conveyor_motor

conveyor_motor.spin_to_position(angle, units, wait=True) — The Conveyor Motor

参数

描述

angle

电机旋转的特定角度或圈数。

units

The unit that represents the angle to rotate to:

  • DEGREES
  • TURNS

wait

Optional.

  • wait=True (default) - The robot waits until spin_to_position is complete before executing the next line of code.
  • wait=False - The robot starts the action and moves on to the next line of code right away, without waiting for spin_to_position to finish.

 
def main():
    # Pick up a second Block
    conveyor_motor.spin_to_position(150, DEGREES)
    intake_motor.spin(FORWARD)
    drivetrain.drive_for(FORWARD, 350, MM)

停止#

stop stops a motor or motor group from spinning.

用法：
两个可用电机对象之一可与此方法一起使用，如下所示：

发动机

命令

intake_motor

intake_motor.stop() — The Intake Motor

conveyor_motor

conveyor_motor.stop() — The Conveyor Motor

参数

描述

该方法没有参数。

 
def main():
    # Pick up a second Block
    conveyor_motor.spin_for(FORWARD, 150, DEGREES)
    intake_motor.spin(FORWARD)
    drivetrain.drive_for(FORWARD, 350, MM)
    intake_motor.stop()

Mutators#

设置位置#

set_position sets a motor’s or motor group’s encoder position to the given position value.

用法：
两个可用电机对象之一可与此方法一起使用，如下所示：

发动机

命令

intake_motor

intake_motor.set_position(position, units) — The Intake Motor

conveyor_motor

conveyor_motor.set_position(position, units) — The Conveyor Motor

参数

描述

position

要设置的电机编码器的具体整数。

units

The unit that represents the angle to rotate to:

  • DEGREES
  • TURNS 

def main():
    # Pick up a second Block
    conveyor_motor.set_position(-150, DEGREES)
    conveyor_motor.spin_to_position(0, DEGREES)
    intake_motor.spin(FORWARD)
    drivetrain.drive_for(FORWARD, 350, MM)

设置速度#

set_velocity sets the speed of a motor or motor group.

用法：
两个可用电机对象之一可与此方法一起使用，如下所示：

发动机

命令

intake_motor

intake_motor.set_velocity(velocity, units) — The Intake Motor

conveyor_motor

conveyor_motor.set_velocity(velocity, units) — The Conveyor Motor

参数

描述

velocity

V5 电机旋转的速度，范围从 0 到 100。

units

The unit that represents the new velocity:

  • PERCENT

 
def main():
    # Pick up a second Block
    conveyor_motor.set_velocity(90, PERCENT)
    conveyor_motor.spin_for(FORWARD, 200, DEGREES)
    intake_motor.spin(FORWARD)
    drivetrain.drive_for(FORWARD, 400, MM)

设置超时#

set_timeout sets a time limit for a motor’s or motor group’s movement commands. This prevents Motion commands that do not reach their intended position from preventing subsequent commands from running.

用法：
两个可用电机对象之一可与此方法一起使用，如下所示：

发动机

命令

intake_motor

intake_motor.set_timeout(value, units) — The Intake Motor

conveyor_motor

conveyor_motor.set_timeout(value, units) — The Conveyor Motor

参数

描述

value

电机停止前等待的时间。

units

The unit to represent the timeout:

  • SECONDS
  • MSEC – milliseconds

 
def main():
    # Pick up a second Block
    conveyor_motor.set_timeout(0.5, SECONDS)
    conveyor_motor.spin_to_position(1000, DEGREES)
    intake_motor.spin(FORWARD)
    drivetrain.drive_for(FORWARD, 400, MM)

Getters#

完成#

is_done returns a Boolean indicating whether the specified motor or motor group is not spinning.

  • True – The specified motor is not spinning.

  • False – The specified motor is spinning.

用法：
两个可用电机对象之一可与此方法一起使用，如下所示：

发动机

命令

intake_motor

intake_motor.is_done() — The Intake Motor

conveyor_motor

conveyor_motor.is_done() — The Conveyor Motor

参数

描述

该方法没有参数。

 
def main():
    # Pick up a second Block
    conveyor_motor.spin_to_position(300, DEGREES, wait=False)
    wait(0.1, SECONDS)
    while not conveyor_motor.is_done():
        drivetrain.drive(FORWARD)
        intake_motor.spin(FORWARD)
        wait(5, MSEC)
    drivetrain.stop()
    intake_motor.stop()

正在旋转#

is_spinning returns a Boolean indicating whether the specified motor or motor group is spinning.

  • True – The specified motor is spinning.

  • False – The specified motor is not spinning.

用法：
两个可用电机对象之一可与此方法一起使用，如下所示：

发动机

命令

intake_motor

intake_motor.is_spinning() — The Intake Motor

conveyor_motor

conveyor_motor.is_spinning() — The Conveyor Motor

参数

描述

该方法没有参数。

 
def main():
    # Pick up a second Block
    conveyor_motor.spin_to_position(300, DEGREES, wait=False)
    wait(0.1, SECONDS)
    while conveyor_motor.is_spinning():
        drivetrain.drive_for(FORWARD, 200, MM)
        intake_motor.spin(FORWARD)

位置#

position returns the total distance the specified motor or motor group has rotated.

用法：
两个可用电机对象之一可与此方法一起使用，如下所示：

发动机

命令

intake_motor

intake_motor.position(units) — The Intake Motor

conveyor_motor

conveyor_motor.position(units) — The Conveyor Motor

参数

描述

units

The units that represent the motor’s position:

  • DEGREES
  • TURNS 

def main():
    # Pick up a second Block
    while conveyor_motor.position(DEGREES) < 150:
        conveyor_motor.spin(FORWARD)
        wait(2, MSEC)
    conveyor_motor.stop()
    intake_motor.spin(FORWARD)
    drivetrain.drive_for(FORWARD, 400, MM)

速度#

velocity returns the current rotational speed of the motor or motor group.

用法：
两个可用电机对象之一可与此方法一起使用，如下所示：

发动机

命令

intake_motor

intake_motor.velocity(units) — The Intake Motor

conveyor_motor

conveyor_motor.velocity(units) — The Conveyor Motor

参数

描述

units

The unit that represent the motor’s position:

  • PERCENT 

def main():
    # Pick up a second block
    conveyor_motor.set_velocity(100, PERCENT)
    conveyor_motor.spin_to_position(300, DEGREES, wait=False)
    wait(0.2, SECONDS)
    brain.screen.print(conveyor_motor.velocity(PERCENT))
    intake_motor.spin(FORWARD)
    drivetrain.drive_for(FORWARD, 400, MM)

人工智能视觉#

Getters#

拍摄快照#

take_snapshot filters the data from the AI Vision Sensor frame to return a tuple.

该元组存储的对象按宽度从大到小排序，从索引 0 开始。每个对象的 属性 可以通过其索引访问。如果未检测到匹配的对象，则返回一个空元组。

Usage:
ai_vision.take_snapshot(signature)

参数

描述

signature

获取哪个签名的数据。唯一可用的签名是：

  • AiVision.ALL_AIOBJS - 检测红色和蓝色块

 
def main():
    # If an object is detected, pick it up
    conveyor_motor.spin_for(FORWARD, 150, DEGREES)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            intake_motor.spin(FORWARD)
            drivetrain.drive(FORWARD)
            while not bumper.pressing():
                wait(2, MSEC)
            drivetrain.stop()
            break

Properties#

使用 take_snapshot 后，存储在元组中的每个对象包含七个属性。

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

。宽度#

.width returns the width of the detected object in pixels, which is an integer between 1 and 320.

def main():
    # If an object is detected, approach and pick it up
    conveyor_motor.spin_for(FORWARD, 150, DEGREES)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            if ai_objects[0].width > 65:
                drivetrain.stop()
                break
            else:
                intake_motor.spin(FORWARD)
                drivetrain.drive(FORWARD)

。高度#

.height returns the height of the detected object in pixels, which is an integer between 1 and 240.

def main():
    # If an object is detected, approach and pick it up
    conveyor_motor.spin_for(FORWARD, 150, DEGREES)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            if ai_objects[0].height > 55:
                drivetrain.stop()
                break
            else:
                intake_motor.spin(FORWARD)
                drivetrain.drive(FORWARD)

.centerX#

.centerX returns the x-coordinate of the detected object’s center in pixels, which is an integer between 0 and 320.

def main():
    # Pick up a Block from the top left group
    conveyor_motor.spin_for(FORWARD, 150, DEGREES)
    drivetrain.turn_for(LEFT, 80, DEGREES)
    drivetrain.drive_for(FORWARD, 200, MM)
    drivetrain.set_turn_velocity(20, PERCENT)
    drivetrain.turn(LEFT)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            if 140 < ai_objects[0].centerX < 180:
                intake_motor.spin(FORWARD)
                drivetrain.drive(FORWARD)
                while not bumper.pressing():
                    wait(2, MSEC)
                drivetrain.stop()

.centerY#

.centerY returns the y-coordinate of the detected object’s center in pixels, which is an integer between 0 and 240.

def main():
    # If an object is detected, approach and pick it up
    conveyor_motor.spin_for(FORWARD, 150, DEGREES)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            if ai_objects[0].centerY > 140:
                drivetrain.stop()
                break
            else:
                intake_motor.spin(FORWARD)
                drivetrain.drive(FORWARD)

.originX#

.originX returns the x-coordinate of the top-left corner of the detected object’s bounding box in pixels, which is an integer between 0 and 320.

def main():
    # Pick up a Block from the top left group
    conveyor_motor.spin_for(FORWARD, 150, DEGREES)
    drivetrain.turn_for(LEFT, 80, DEGREES)
    drivetrain.drive_for(FORWARD, 300, MM)
    drivetrain.set_turn_velocity(20, PERCENT)
    drivetrain.turn(RIGHT)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            if 100 < ai_objects[0].originX < 140:
                intake_motor.spin(FORWARD)
                drivetrain.drive(FORWARD)
                while not bumper.pressing():
                    wait(2, MSEC)
                drivetrain.stop()

.originY#

.originY returns the y-coordinate of the top-left corner of the detected object’s bounding box in pixels, which is an integer between 0 and 240.

def main():
    # If an object is detected, approach and pick it up
    conveyor_motor.spin_for(FORWARD, 150, DEGREES)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            if ai_objects[0].originY > 120:
                drivetrain.stop()
                break
            else:
                intake_motor.spin(FORWARD)
                drivetrain.drive(FORWARD)

。ID#

.id returns the ID of the detected AI Classification as an integer.

人工智能分类

ID

签名

蓝块

1

GameElements.BLUE_BLOCK

红块

2

GameElements.RED_BLOCK

 
def main():
    # Pick up a Red Block from the top left group
    conveyor_motor.spin_for(FORWARD, 150, DEGREES)
    drivetrain.turn_for(LEFT, 80, DEGREES)
    drivetrain.drive_for(FORWARD, 300, MM)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            drivetrain.drive(FORWARD)
            if (ai_objects[0].id) == 2:
                intake_motor.spin(FORWARD)
                while not bumper.pressing():
                    wait(2, MSEC)
                drivetrain.stop()
                break

传感#

Optical#

靠近物体#

is_near_object returns a Boolean indicating whether or not the Optical Sensor detects an object close to the sensor.

  • True – The object is close to the Optical Sensor.

  • False – The object is not close to the Optical Sensor.

Usage:
optical.is_near_object()

参数

描述

该方法没有参数。

 
def main():
    # Move the preloaded Block to the top of the Conveyor
    conveyor_motor.spin(FORWARD)
    while not optical.is_near_object():
        wait(2, MSEC)
    conveyor_motor.stop()

颜色#

color returns the color detected by the Optical Sensor:

返回的颜色：

  • NONE – No color detected.
  • RED
  • GREEN
  • BLUE
  • YELLOW
  • ORANGE
  • PURPLE
  • CYAN

Usage:
optical.color()

参数

描述

该方法没有参数。

 
def main():
    # Pick up and move a Blue Block to the top of the Conveyor
    conveyor_motor.spin_for(FORWARD, 150, DEGREES)
    intake_motor.spin(FORWARD)
    drivetrain.drive_for(FORWARD, 360, MM)
    conveyor_motor.spin(FORWARD)
    while not optical.color() == BLUE:
        wait(2, MSEC)
    conveyor_motor.stop()

亮度#

brightness returns the brightness value detected by the Optical Sensor as a percent from 0% to 100%.

Usage:
optical.brightness()

参数

描述

该方法没有参数。

 
def main():
    # Move the preloaded Block to the top of the Conveyor
    conveyor_motor.spin(FORWARD)
    while not 0 < optical.brightness():
        wait(2, MSEC)
    conveyor_motor.stop()

色调#

hue returns the hue detected by the Optical Sensor.

色调值范围从 0 到 359 度，对应于下面显示的色轮上的位置。

圆形色轮，显示全光谱色调，周边标有度数值，从顶部的 0° 到 360°，以 30 度为增量增加。

Usage:
optical.hue()

参数

描述

该方法没有参数。

 
def main():
    # Pick up and move a Blue Block to the top of the Conveyor
    conveyor_motor.spin_for(FORWARD, 150, DEGREES)
    intake_motor.spin(FORWARD)
    drivetrain.drive_for(FORWARD, 360, MM)
    conveyor_motor.spin(FORWARD)
    while not 220 < optical.hue() < 260:
        wait(2, MSEC)
    conveyor_motor.stop()

检测到物体#

object_detected registers a callback function for when the Optical Sensor detects an object.

Usage:
optical.object_detected(callback, arg)

参数

描述

callback

当检测到物体时调用的函数。

arg

可选。用于将参数传递给回调函数的元组。

 
def ready_block():
  # Stop the conveyor when Block is at the Sensor
  conveyor_motor.stop()

def main():
  # Move the preloaded Block near the top of the Conveyor
  conveyor_motor.spin(FORWARD)
  optical.object_detected(ready_block)

object_lost#

object_lost registers a callback function for when the Optical Sensor loses a previously detected object.

Usage:
optical.object_lost(callback, arg)

参数

描述

callback

当检测到的对象丢失时将调用的函数。

arg

可选。用于将参数传递给回调函数的元组。

 
def ready_block():
  # Stop the conveyor when Block is at the top
  conveyor_motor.stop()

def main():
  # Move the preloaded Block to the top of the Conveyor
  conveyor_motor.spin(FORWARD)
  optical.object_lost(ready_block)

GPS#

本页上的所有 GPS（游戏定位系统™）传感器示例均使用默认的 Playground 起始位置 C。

x_位置#

x_position returns the current x coordinate of a GPS (Game Positioning System™) Sensor on the Field.

Usage:
gps.x_position(units)

参数

描述

单位

The unit of the offset value, INCHES or MM (Millimeters).

 
def main():
    # Pick up a second Block
    conveyor_motor.spin_for(FORWARD, 150, DEGREES)
    intake_motor.spin(FORWARD)
    drivetrain.drive(FORWARD)
    while not gps.x_position(MM) > -795:
        wait(2, MSEC)
    drivetrain.stop()

y_位置#

y_position returns the current y coordinate of a GPS (Game Positioning System™) Sensor on the Field.

Usage:
gps.y_position(units)

参数

描述

单位

The unit of the offset value, INCHES or MM (Millimeters).

 
def main():
    # Pick up a second Block
    conveyor_motor.spin_for(FORWARD, 150, DEGREES)
    intake_motor.spin(FORWARD)
    drivetrain.drive(FORWARD)
    while not -450 > gps.y_position(MM):
        wait(2, MSEC)
    drivetrain.stop()

标题#

heading returns the heading that the robot is currently facing based on the GPS (Game Positioning System™) Sensor’s readings from 0 to 359 degrees.

Usage:
gps.heading()

参数

描述

该方法没有参数。

 
def main():
    # Score the preloaded Block into a Center Goal
    drivetrain.set_turn_velocity(30, PERCENT)
    drivetrain.turn(LEFT)
    while not 40 > gps.heading():
        wait(2, MSEC)
    drivetrain.drive_for(FORWARD, 1000, MM)
    drivetrain.turn(RIGHT)
    while not gps.heading() > 310:
        wait(2, MSEC)
    drivetrain.drive_for(REVERSE, 400, MM)
    conveyor_motor.spin(FORWARD)
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