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) Sensor.

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 motor – Spins the selected motor or motor group indefinitely.

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

  • spin motor 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 an 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 on this page use the default Playground start position.

Motion

Actions

spin motor

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

spin [ConveyorMotor v] [up v]

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.]
spin [ConveyorMotor v] [up v] for [200] [degrees v] ▶
spin [IntakeMotor v] [intake v]
drive [forward v] for [350] [mm v] ▶

spin motor for

The spin motor 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.

spin [ConveyorMotor v] [up v] for (90) [degrees 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.]
spin [ConveyorMotor v] [up v] for [200] [degrees v] ▶
spin [IntakeMotor v] [intake v]
drive [forward v] for [350] [mm v] ▶

spin motor to position

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

spin [ConveyorMotor v] to position (90) [degrees 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.]
spin [ConveyorMotor v] to position [200] [degrees v] ▶
spin [IntakeMotor v] [intake v]
drive [forward v] for [350] [mm v] ▶

stop motor

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

stop [ConveyorMotor v]

Parameters	Description
motor	The motor group to stop: ConveyorMotor IntakeMotor

Example

当开始
[Pick up a second Block.]
spin [ConveyorMotor v] [up v] for [200] [degrees v] ▶
spin [IntakeMotor v] [intake v]
drive [forward v] for [350] [mm v] ▶
stop [IntakeMotor v]

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.

set [ConveyorMotor v] velocity to [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.]
set [ConveyorMotor v] velocity to [100] [% v]
spin [ConveyorMotor v] [up v] for [200] [degrees v] ▶
spin [IntakeMotor v] [intake v]
drive [forward v] for [400] [mm 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.

set [ConveyorMotor v] timeout to [1] seconds

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.]
set [ConveyorMotor v] timeout to [0.5] seconds
spin [ConveyorMotor v] to position [1000] [degrees v] ▶
spin [IntakeMotor v] [intake v]
drive [forward v] for [400] [mm v] ▶

Position

motor position

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

([ConveyorMotor v] position in [degrees 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.]
while <([ConveyorMotor v] position in [degrees v]) [math_less_than v] [200]>
spin [ConveyorMotor v] [up v]
结束
stop [ConveyorMotor v]
spin [IntakeMotor v] [intake v]
drive [forward v] for [400] [mm 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.

set [ConveyorMotor v] position to (0) [degrees 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.]
set [ConveyorMotor v] position to [-200] [degrees v]
spin [ConveyorMotor v] to position [0] [degrees v] ▶
spin [IntakeMotor v] [intake v]
drive [forward v] for [400] [mm 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] is done?>

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

Example

当开始
[Pick up a second Block.]
spin [ConveyorMotor v] to position [300] [degrees v] ◀ and don't wait
驱动 [向前 v]
spin [IntakeMotor v] [intake v]
wait until <[ConveyorMotor v] is done?>
驱动停止
stop [IntakeMotor v]

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] is spinning?>

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

Example

当开始
[Pick up a second Block.]
spin [ConveyorMotor v] to position [300] [degrees v] ◀ and don't wait
等待 [0.1] 秒
while <[ConveyorMotor v] is spinning?>
驱动 [向前 v] [200] [毫米 v] ▶
spin [IntakeMotor v] [intake v]

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] velocity in [% v] :: 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.]
set [ConveyorMotor v] velocity to [100] [% v]
spin [ConveyorMotor v] to position [300] [degrees v] ◀ and don't wait
等待 [0.2] 秒
print ([ConveyorMotor v] velocity in [% v] :: custom-motion) ▶
spin [IntakeMotor v] [intake v]
drive [forward v] for [400] [mm 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.

get [AI Classifications v] data from AI Vision

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.]
spin [ConveyorMotor v] [up v] for [200] [degrees v] ▶
永久循环
get [AI Classifications v] data from [AIVision v]
if <[AIVision v] object exists?> then
spin [IntakeMotor v] [intake v]
驱动 [向前 v]
wait until <[Bumper v] pressed?>
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.

set [AIVision v] object item to [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
get [AI Classifications v] data from [AIVision v]
if <[AIVision v] object exists?> then
set [AIVision v] object item to ([AIVision v] object count)
清除所有行
if <[AIVision v] object is [BlueBlock v]?> then
print [Blue Block farthest away.] ▶
否则
print [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.

<[AIVision v] object exists?>

Parameters	Description
	This block has no parameters.

Example

当开始
[If an an object is detected, pick it up.]
spin [ConveyorMotor v] [up v] for [200] [degrees v] ▶
永久循环
get [AI Classifications v] data from [AIVision v]
if <[AIVision v] object exists?> then
spin [IntakeMotor v] [intake v]
驱动 [向前 v]
wait until <[Bumper v] pressed?>
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 v] object is [BlueBlock v]?>

Parameter	Description
object	Which object to compare the item to: BlueBlock RedBlock

Example

当开始
[Display what object is farthest away.]
永久循环
get [AI Classifications v] data from [AIVision v]
if <[AIVision v] object exists?> then
set [AIVision v] object item to ([AIVision v] object count)
清除所有行
if <[AIVision v] object is [BlueBlock v]?> then
print [Blue Block farthest away.] ▶
否则
print [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] object count)

Parameters	Description
	This block has no parameters.

Example

当开始
[Display what object is farthest away.]
永久循环
get [AI Classifications v] data from [AIVision v]
if <[AIVision v] object exists?> then
set [AIVision v] object item to ([AIVision v] object count)
清除所有行
if <[AIVision v] object is [BlueBlock v]?> then
print [Blue Block farthest away.] ▶
否则
print [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] object [width 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] object [width v])

Example

当开始
[If an an object is detected, approach and pick it up.]
spin [ConveyorMotor v] [up v] for [200] [degrees v] ▶
永久循环
get [AI Classifications v] data from [AIVision v]
if <[AIVision v] object exists?> then
if <([AIVision v] object [width v]) [math_greater_than v] [65]> then
驱动停止
退出循环
否则
spin [IntakeMotor v] [intake v]
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] object [height v])

Example

当开始
[If an an object is detected, approach and pick it up.]
spin [ConveyorMotor v] [up v] for [200] [degrees v] ▶
永久循环
get [AI Classifications v] data from [AIVision v]
if <[AIVision v] object exists?> then
if <([AIVision v] object [height v]) [math_greater_than v] [55]> then
驱动停止
退出循环
否则
spin [IntakeMotor v] [intake v]
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] object [centerX v])

Example

当开始
[Pick up a Block from the top left group.]
spin [ConveyorMotor v] [up v] for [200] [degrees v] ▶
turn [left v] for [80] degrees ▶
驱动 [向前 v] [100] [毫米 v] ▶
set turn velocity to [20] [% v]
[左 v] 转
永久循环
get [AI Classifications v] data from [AIVision v]
if <[AIVision v] object exists?> then
if <<[140] [math_less_than v] ([AIVision v] object [centerX v])> and <([AIVision v] object [centerX v]) [math_less_than v] [180]>> then
spin [IntakeMotor v] [intake v]
驱动 [向前 v]
wait until <[Bumper v] pressed?>
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] object [centerY v])

Example

当开始
[If an an object is detected, approach and pick it up.]
spin [ConveyorMotor v] [up v] for [200] [degrees v] ▶
永久循环
get [AI Classifications v] data from [AIVision v]
if <[AIVision v] object exists?> then
if <([AIVision v] object [centerY v]) [math_greater_than v] [140]> then
驱动停止
退出循环
否则
spin [IntakeMotor v] [intake v]
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] object [originX v])

Example

当开始
[Pick up a Block from the top left group.]
spin [ConveyorMotor v] [up v] for [200] [degrees v] ▶
turn [left v] for [80] degrees ▶
驱动 [向前 v] [100] [毫米 v] ▶
set turn velocity to [20] [% v]
[左 v] 转
永久循环
get [AI Classifications v] data from [AIVision v]
if <[AIVision v] object exists?> then
if <<[100] [math_less_than v] ([AIVision v] object [originX v])> and <([AIVision v] object [originX v]) [math_less_than v] [140]>> then
spin [IntakeMotor v] [intake v]
驱动 [向前 v]
wait until <[Bumper v] pressed?>
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] object [originY v])

Example

当开始
[If an an object is detected, approach and pick it up.]
spin [ConveyorMotor v] [up v] for [200] [degrees v] ▶
永久循环
get [AI Classifications v] data from [AIVision v]
if <[AIVision v] object exists?> then
if <[120] [math_less_than v] ([AIVision v] object [originY v])> then
驱动停止
退出循环
否则
spin [IntakeMotor v] [intake v]
驱动 [向前 v]
结束
结束

Sensing

Optical

Optical found an object?

The Optical found an 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] found an object?>

Parameters	Description
	This block has no parameters.

Example

当开始
[Move the preloaded Block to the top of the Conveyor.]
spin [ConveyorMotor v] [up v]
wait until <[Optical v] found an object?>
stop [ConveyorMotor v]

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] detects [red 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.]
spin [ConveyorMotor v] [up v] for [200] [degrees v] ▶
spin [IntakeMotor v] [intake v]
drive [forward v] for [360] [mm v] ▶
spin [ConveyorMotor v] [up v]
wait until <[Optical v] detects [blue v]?>
stop [ConveyorMotor v]

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] brightness in %)

Parameters	Description
	This block has no parameters.

Example

当开始
[Move the preloaded Block to the top of the Conveyor.]
spin [ConveyorMotor v] [up v]
wait until <[0] [math_less_than v] ([Optical v] brightness in %)>
stop [ConveyorMotor v]

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] hue in degrees)

Parameters	Description
	This block has no parameters.

Example

当开始
[Pick up and move a Blue Block to the top of the Conveyor.]
spin [ConveyorMotor v] [up v] for [200] [degrees v] ▶
spin [IntakeMotor v] [intake v]
drive [forward v] for [360] [mm v] ▶
spin [ConveyorMotor v] [up v]
wait until <[240] [math_equal v] ([Optical v] hue in degrees)>
stop [ConveyorMotor v]

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.

when [Optical v] [detects v] an object

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

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] position [X v] in [mm v])

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

Example

当开始
[Pick up a second Block.]
spin [ConveyorMotor v] to position [200] [degrees v] ▶
spin [IntakeMotor v] [intake v]
驱动 [向前 v]
wait until <[-450] [math_greater_than v] ([GPS v] position [Y v] in [mm 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] heading in degrees)

Parameters	Description
	This block has no parameters.

Example

当开始
[Score the preloaded Block into a Center Goal.]
[左 v] 转
wait until <[40] [math_greater_than v] ([GPS v] heading in degrees)>
drive [forward v] for [1000] [mm v] ▶
[右 v] 转
wait until <([GPS v] heading in degrees) [math_greater_than v] [310]>
驱动 [反 v] [200] [毫米 v] ▶
spin [ConveyorMotor v] [up v]