机器人专用 Python#

介绍 #

VIQRC 25-26 混合搭配游乐场采用专为此游乐场设计的构造方法，包括两个电机选项、光学传感器和触摸 LED。

所有标准 VEXcode VR 方法均可用于 VIQRC 25-26 Mix & Match 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。

感知——利用机器人的各种传感器。

触摸LED
- set_color – 将 TouchLED 设置为选定的颜色。
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。

运动 #

Actions #

旋转 #

spin spins a motor 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
`claw_motor`	`claw_motor.spin(direction)` — The Claw Motor
`lift_motor`	`lift_motor.spin(direction)` — The Lift Motor

参数

描述

direction

The direction for the motor to spin:

FORWARD – Opens claw or lowers the lift.
REVERSE – Closes claw or raises the lift.

def main():
  # Place a Pin atop another Pin
  lift_motor.spin_for(REVERSE, 600, DEGREES)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

spin_for #

spin_for spins a motor 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
`claw_motor`	`claw_motor.spin_for(direction, distance, units, wait=True)` — The Claw Motor
`lift_motor`	`lift_motor.spin_for(direction, distance, units, wait=True)` — The Lift Motor

参数	描述
`direction`	The direction for the motor to spin: `FORWARD` – Opens claw or lowers the lift. `REVERSE` – Closes claw or raises the lift.
`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():
  # Place a Pin atop another Pin
  lift_motor.spin_for(REVERSE, 600, DEGREES)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

旋转到位置 #

spin_to spins a motor 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
`claw_motor`	`claw_motor.spin_to_position(angle, units, wait=True)` — The Claw Motor
`lift_motor`	`lift_motor.spin_to_position(angle, units, wait=True)` — The Lift 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():
  # Place a Pin atop another Pin
  lift_motor.spin_to_position(-2, TURNS)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

停止 #

stop stops a motor 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
`claw_motor`	`claw_motor.stop()` — The Claw Motor
`lift_motor`	`lift_motor.stop()` — The Lift Motor

参数	描述
	该方法没有参数。

def main():
  # Place a Pin atop another Pin
  lift_motor.spin(REVERSE)
  wait(2, SECONDS)
  lift_motor.stop()
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

Mutators #

设置位置 #

set_position sets a motor’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
`claw_motor`	`claw_motor.set_position(position, units)` — The Claw Motor
`lift_motor`	`lift_motor.set_position(position, units)` — The Lift 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():
  # Place a Pin atop another Pin
  lift_motor.set_position(100, DEGREES)
  lift_motor.spin_to_position(-500, DEGREES)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

设置速度 #

set_velocity sets the speed of a motor.

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
`claw_motor`	`claw_motor.set_velocity(velocity, units)` — The Claw Motor
`lift_motor`	`lift_motor.set_velocity(velocity, units)` — The Lift Motor

参数	描述
`velocity`	IQ 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

IQ 电机旋转的速度，范围从 0 到 100。

units

The unit that represents the new velocity:

PERCENT

def main():
  # Place a Pin atop another Pin
  lift_motor.set_velocity(100, PERCENT)
  lift_motor.spin_for(REVERSE, 600, DEGREES)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

设置超时 #

set_timeout sets a time limit for a motor’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
`claw_motor`	`claw_motor.set_timeout(value, units)` — The Claw Motor
`lift_motor`	`lift_motor.set_timeout(value, units)` — The Lift 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():
  # Place a Pin atop another Pin
  lift_motor.set_timeout(2, SECONDS)
  lift_motor.spin_for(REVERSE, 5, TURNS)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

Getters #

完成 #

is_done returns a Boolean indicating whether the specified motor 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
`claw_motor`	`claw_motor.is_done()` — The Claw Motor
`lift_motor`	`lift_motor.is_done()` — The Lift Motor

参数	描述
	该方法没有参数。

def main():
  # Place a Pin atop another Pin
  lift_motor.spin_for(REVERSE, 600, DEGREES, wait=False)
  wait(0.1, SECONDS)
  while not lift_motor.is_done():
      touchled.set_color(RED)
      wait(0.5, SECONDS)
      touchled.set_color(NONE)
      wait(0.5, SECONDS)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

正在旋转 #

is_spinning returns a Boolean indicating whether the specified motor 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
`claw_motor`	`claw_motor.is_spinning()` — The Claw Motor
`lift_motor`	`lift_motor.is_spinning()` — The Lift Motor

参数	描述
	该方法没有参数。

def main():
  # Place a Pin atop another Pin
  lift_motor.spin_for(REVERSE, 600, DEGREES, wait=False)
  wait(0.1, SECONDS)
  while lift_motor.is_spinning():
      touchled.set_color(RED)
      wait(0.5, SECONDS)
      touchled.set_color(NONE)
      wait(0.5, SECONDS)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

位置 #

position returns the total distance the specified motor 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
`claw_motor`	`claw_motor.position(units)` — The Claw Motor
`lift_motor`	`lift_motor.position(units)` — The Lift 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():
  # Place a Pin atop another Pin
  lift_motor.spin(REVERSE)
  while not -600 > claw_motor.position(DEGREES):
      wait(2, MSEC)
  lift_motor.stop()
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

速度 #

velocity returns the current rotational speed of the motor.

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
`claw_motor`	`claw_motor.velocity(units)` — The Claw Motor
`lift_motor`	`lift_motor.velocity(units)` — The Lift 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():
  # Place a Pin atop another Pin
  lift_motor.set_velocity(100, PERCENT)
  lift_motor.spin_for(REVERSE, 600, DEGREES, wait=False)
  wait(0.5, SECONDS)
  brain.screen.print(lift_motor.velocity(PERCENT))
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

传感 #

Touch LED #

设置颜色 #

set_color sets the color of the Touch LED.

Usage:
touchled.set_color(color)

参数	描述
`color`	The color to set the Touch LED to: `NONE` – Turns off the Touch LED `RED` `GREEN` `BLUE` `YELLOW` `ORANGE` `PURPLE` `WHITE` `RED_VIOLET` `VIOLET` `BLUE_VIOLET` `BLUE_GREEN` `YELLOW_GREEN` `YELLOW_ORANGE` `RED_ORANGE`

参数

描述

color

The color to set the Touch LED to:

NONE – Turns off the Touch LED
RED
GREEN
BLUE
YELLOW
ORANGE
PURPLE
WHITE
RED_VIOLET
VIOLET
BLUE_VIOLET
BLUE_GREEN
YELLOW_GREEN
YELLOW_ORANGE
RED_ORANGE

def main():
  # Place a Pin atop another Pin
  touchled.set_color(RED)
  lift_motor.spin_for(REVERSE, 600, DEGREES)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)
  touchled.set_color(NONE)

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():
  # Place a Pin atop another Pin
  lift_motor.spin_for(REVERSE, 600, DEGREES)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)
  while not not optical.is_near_object():
      wait(2, MSEC)
  lift_motor.spin_to_position(0, DEGREES)

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` `WHITE` `RED_VIOLET` `VIOLET` `BLUE_VIOLET` `BLUE_GREEN` `YELLOW_GREEN` `YELLOW_ORANGE` `RED_ORANGE`

返回的颜色：

NONE – No color detected.
RED
GREEN
BLUE
YELLOW
ORANGE
PURPLE
WHITE
RED_VIOLET
VIOLET
BLUE_VIOLET
BLUE_GREEN
YELLOW_GREEN
YELLOW_ORANGE
RED_ORANGE

Usage:
optical.color()

参数	描述
	该方法没有参数。

def main():
  # Place a Pin atop another Pin
  lift_motor.spin_for(REVERSE, 600, DEGREES)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)
  while not optical.color() == RED:
      wait(5, MSEC)
  lift_motor.spin_to_position(0, DEGREES)

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():
  # Place a Pin atop another Pin
  lift_motor.spin_for(REVERSE, 600, DEGREES)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)
  while not 30 > optical.brightness():
      wait(5, MSEC)
  lift_motor.spin_to_position(0, DEGREES)

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():
  # Place a Pin atop another Pin
  lift_motor.spin_for(REVERSE, 600, DEGREES)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)
  while not optical.hue() > 0:
      wait(5, MSEC)
  lift_motor.spin_to_position(0, DEGREES)

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 pin_in_open_claw():
  # Change color when claw isn't holding anything
  touchled.set_color(RED)

def main():
  # Place a Pin atop another Pin
  optical.object_detected(pin_in_open_claw)
  touchled.set_color(GREEN)
  lift_motor.spin_for(REVERSE, 600, DEGREES)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)

object_lost #

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

Usage:
optical.object_lost(callback, arg)

参数	描述
`callback`	当对象丢失时调用的函数。
`arg`	可选。用于将参数传递给回调函数的元组。

def lower_lift():
  # Lower lift when Pin not in claw
  lift_motor.spin_to_position(0, DEGREES)

def main():
  # Place a Pin atop another Pin
  optical.object_lost(lower_lift)
  lift_motor.spin_for(REVERSE, 600, DEGREES)
  drivetrain.drive_for(FORWARD, 140, MM)
  claw_motor.spin(FORWARD)