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 – 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 – Stops a specific motor or motor group from spinning.
修改器
- set_position – Sets the encoder value of a motor or motor group.
- set_velocity – Sets the speed of a motor or motor group as a percentage.
- set_timeout – Limits how long a motor block waits before giving up if movement is blocked.
吸气剂
- is_done – Returns a Boolean indicating whether the motor is no longer spinning.
- is_spinning – Returns a Boolean indicating whether the motor is currently spinning.
- position – Returns the motor’s current rotational position in degrees or turns.
- velocity – Returns the motor’s current velocity in % or rpm.

AI 视觉 - 使用 AI 视觉传感器捕捉和分析物体。

吸气剂
- take_snapshot – Returns a tuple of detected objects based on a given signature.
特性
- width – Width of the detected object in pixels.
- height – Height of the detected object in pixels.
- centerX – X position of the object’s center in pixels.
- centerY – Y position of the object’s center in pixels.
- originX – X position of the object’s top-left corner in pixels.
- originY – Y position of the object’s top-left corner in pixels.
- id – Classification or tag ID of the object.

感知——利用机器人的各种传感器。

光学的
- is_near_object – Returns whether a detected object is near the Optical Sensor.
- color – Returns the color detected from the Optical Sensor.
- brightness – Returns the brightness percentage detected by the sensor.
- hue – Returns the hue value of the detected color.
- object_detected – Registers a callback function for when the Optical Sensor detects an object.
- object_lost – Registers a callback function for when the Optical Sensor loses an object.
全球定位系统
- x_position – Returns the current x coordinate of a GPS Sensor on the Field.
- y_position –Returns the current y coordinate of a GPS Sensor on the Field.
- heading – Returns the heading that the robot is currently facing based on the GPS Sensor’s readings from 0 to 359 degrees.

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

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.

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.

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`

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`

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)

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

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`

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`

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

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 #

There are seven properties that are included with each object stored in a tuple after take_snapshot is used.

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`

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)