机器人专用模块#
介绍#
The Hero Bot, Disco, includes a motor group, Line Tracker, Optical Sensor, and Game Positioning System (GPS) Sensor.
All standard VEXcode VR Blocks are available for use in the V5RC 22-23 Spin Up Playground.
Below is a list of all available Robot-specific Blocks:
Drivetrain – Move and turn the robot.
操作
drive — Moves the robot forward or reverse forever.
drive for — Moves the robot forward or reverse for a specific distance.
turn — Turns the robot left or right forever.
turn for — Turns the robot left or right for a specific number of degrees.
turn to heading — Turns the robot to face a specific heading.
turn to rotation — Turns the robot to a specific rotation.
stop driving — Stops the robot’s movement.
设置
set drive velocity — Tells the robot how fast to drive.
set turn velocity — Tells the robot how fast to turn.
set drive heading — Changes the robot’s current heading to a new heading.
set drive rotation — Changes the robot’s current rotation to a new rotation.
set drive timeout — Sets how many seconds the robot will try to finish a movement.
价值观
drive is done — Reports whether the robot is finished moving.
drive is moving — Reports whether the robot is moving.
drive heading — Reports the robot’s current heading from 0 to 359.99 degrees.
drive rotation — Reports the robot’s current rotation.
drive velocity — Reports how fast the robot is driving.
运动控制——移动并跟踪机器人的电机。
操作
spin motor – Spins a motor group forward or reverse forever.
spin motor for – Spins a motor group for a specific distance in degrees or turns.
spin motor to position – Spins a motor group to a specific position.
stop motor – Stops a motor group from spinning.
设置
set motor velocity – Tells a motor group how fast to spin.
set motor timeout – Sets how much time a motor group will try to finish a movement.
set motor position – Changes the motor group’s current position to a new value.
价值观
motor is done – Reports whether the motor group is finished moving.
motor is spinning – Reports whether the motor group is spinning.
motor position – Reports the motor group’s current position.
motor velocity – Reports how fast the motor group is spinning, as a percentage from -100% to 100%.
感知——利用机器人的各种传感器。
线路追踪器
Line Tracker 反射率 – 返回从表面反射的光量百分比。
光学的
Optical found an object – Reports whether the sensor is detecting an object within range.
Optical detects color – Reports whether the Optical Sensor detects a specified color.
Optical brightness – Reports the brightness detected by the Optical Sensor.
Optical hue – Reports the hue detected by the Optical Sensor.
when Optical – Runs the attached stack of blocks when the Optical Sensor detects or loses an object.
全球定位系统
本页示例使用 Playground 的默认起始位置。
Drivetrain#
The drivetrain controls how the VR Robot drives and turns. The drivetrain can move forward or reverse, turn left or right, turn to headings, and track its rotation.
行动#
drive#
The drive stack block moves the robot forward or reverse forever. The robot will continue to move until it is given another action, like turning or stopping.
驱动 [向前 v]
参数 |
描述 |
|---|---|
方向 |
The direction the robot moves: forward or reverse. |
例子
当开始 :: hat events
[Drive forward, then stop.]
驱动 [向前 v]
等待 (2) 秒
驱动停止
drive for#
The drive for stack block moves the robot forward or reverse for a specific distance. The project will wait until the robot is done moving before the next block in the stack runs.
驱动 [向前 v] (200) [毫米 v] ▶
参数 |
描述 |
|---|---|
方向 |
The direction the robot moves: forward or reverse. |
距离 |
The distance the robot drives. This can be an integer or a decimal. |
单元 |
The distance unit: mm (millimeters) or inches |
and don’t wait |
Select the arrow ( ▶ ) to expand the block to say and don’t wait, so the next block in the stack will run right away. |
例子
当开始 :: hat events
[Drive forward.]
驱动 [向前 v] (500) [毫米 v] ▶
turn#
The turn stack block turns the robot left or right forever. The robot will continue to turn until it is given another action, like driving or stopping.
[右 v] 转
参数 |
描述 |
|---|---|
方向 |
The direction the robot turns: left or right. |
例子
当开始 :: hat events
[Turn right, then stop.]
[右 v] 转
等待 (2) 秒
驱动停止
turn for#
The turn for stack block turns the robot left or right for a specific number of degrees. The turn is relative to the current position of the robot. The project will wait until the robot is done turning before the next block in the stack runs.
[右 v] 转 (90) 度 ▶
参数 |
描述 |
|---|---|
方向 |
The direction the robot turns: left or right. |
angle |
The number of degrees the robot turns. This can be an integer or a decimal. |
and don’t wait |
Select the arrow ( ▶ ) to expand the block to say and don’t wait, so the next block in the stack will run right away. |
例子
当开始 :: hat events
[Turn left, then turn around to the right.]
[左 v] 转 (90) 度 ▶
[右 v] 转 (180) 度 ▶
turn to heading#
A heading is the direction the robot is facing, measured in degrees. The turn to heading stack block turns the robot to face a specific heading from -359 to 359 degrees. The robot will turn the shortest direction to reach the target heading.
The starting heading is 0 degrees.
The project will wait until the robot is done turning before the next block in the stack runs.
归位至 (90) 度 ▶
参数 |
描述 |
|---|---|
heading |
The heading the robot should face, from -359 to 359 degrees. |
and don’t wait |
Select the arrow ( ▶ ) to expand the block to say and don’t wait, so the next block in the stack will run right away. |
例子
当开始 :: hat events
[Turn to face the cardinal directions.]
归位至 (90) 度 ▶
等待 (2) 秒
归位至 (180) 度 ▶
等待 (2) 秒
归位至 (270) 度 ▶
等待 (2) 秒
归位至 (0) 度 ▶
等待 (2) 秒
turn to rotation#
The turn to rotation stack block turns the robot to a specific rotation.
Rotation is how much the robot has turned, measured in degrees. At the beginning of a project, the rotation value is set to 0 degrees. Rotation can also be set using the set drive rotation block.
Rotation values are absolute. This means the direction of the turn depends on the robot’s current rotation. Turning right increases the rotation, and turning left decreases the rotation.
For example, if the robot starts at 0 degrees and you turn to a rotation of 720 degrees, it will turn right twice. If you then turn to a rotation of 360 degrees, it will turn left once, because 360 is less than 720.
The project will wait until the robot is done turning before the next block in the stack runs.
转向至 (90) 度 ▶
参数 |
描述 |
|---|---|
rotation |
The rotation value, in degrees, that the robot will turn to. This can be an integer or a decimal. |
and don’t wait |
Select the arrow ( ▶ ) to expand the block to say and don’t wait, so the next block in the stack will run right away. |
例子
当开始 :: hat events
[Turn left, then spin in a circle clockwise and face right.]
转向至 (-90) 度 ▶
等待 (2) 秒
转向至 (450) 度 ▶
stop driving#
The stop driving stack block stops the robot’s movement.
驱动停止
参数 |
描述 |
|---|---|
此代码块没有参数。 |
例子
当开始 :: hat events
[Drive forward, then stop.]
驱动 [向前 v]
等待 [4] 秒
驱动停止
设置#
set drive velocity#
The set drive velocity stack block tells the robot how fast to drive. A higher percentage makes the robot drive faster and a lower percentage makes the robot drive slower.
Every project begins with the robot driving at 50% velocity by default.
Note: A higher velocity makes the robot drive faster, but it may be less precise. A lower velocity makes the robot drive slower, but it can be more precise.
设定驱动速度为 (50) [% v]
参数 |
描述 |
|---|---|
速度 |
The velocity to drive with from 0% to 100%. |
单元 |
The velocity unit: % |
例子
当开始 :: hat events
[Drive forward at the default velocity.]
驱动 [向前 v] (100) [毫米 v] ▶
等待 (1) 秒
[Move slower.]
设定驱动速度为 (20) [% v]
驱动 [向前 v] (100) [毫米 v] ▶
等待 (1) 秒
[Move faster.]
设定驱动速度为 (100) [% v]
驱动 [向前 v] (100) [毫米 v] ▶
等待 (1) 秒
set turn velocity#
The set turn velocity stack block tells the robot how fast to turn. A higher percentage makes the robot turn faster and a lower percentage makes the robot turn slower.
Every project begins with the robot turning at 50% velocity by default.
Note: A higher velocity makes the robot turn faster, but it may be less precise. A lower velocity makes the robot turn slower, but it can be more precise.
设定转向速度为 (50) [% v]
参数 |
描述 |
|---|---|
速度 |
The velocity to turn with from 0% to 100%. |
单元 |
The velocity unit: % |
例子
当开始 :: hat events
[Turn at default velocity.]
[右 v] 转 (100) 度 ▶
等待 (1) 秒
[Turn slower.]
设定转向速度为 (20)%
[右 v] 转 (100) 度 ▶
等待 (1) 秒
[Turn faster.]
设定转向速度为 (100)%
[右 v] 转 (100) 度 ▶
等待 (1) 秒
set drive heading#
A heading is the direction the robot is facing, measured in degrees. The set drive heading stack block changes the robot’s current heading to a new heading value.
For example, if the robot has turned to face right, setting the heading to 0 degrees makes that right-facing position the new 0 degrees. Then the robot can turn to other positions based on that new heading.
设定底盘归位至 (0) 度
参数 |
描述 |
|---|---|
heading |
The heading value, in degrees, to set for the robot. |
例子
当开始 :: hat events
[Turn to the left.]
设定底盘归位至 (90) 度
归位至 (0) 度 ▶
set drive rotation#
Rotation is how much the robot has turned, measured in degrees. At the beginning of a project, the rotation value is set to 0 degrees. The set drive rotation stack block changes the robot’s current rotation to a new value.
For example, if the robot has made two full turns to the right, its rotation value will be 720 degrees. Setting the rotation to 0 degrees will reset that rotation from 720 to 0 degrees. Then the robot can turn to rotations based on that new value.
设定底盘转向至 (0) 度
参数 |
描述 |
|---|---|
rotation |
The rotation value, in degrees, to set for the robot. This can be an integer or a decimal. |
例子
当开始 :: hat events
[Spin counterclockwise two times.]
设定底盘转向至 (720) 度
转向至 (0) 度 ▶
set drive timeout#
The set drive timeout stack block sets how many seconds the robot will try to finish a movement. If the robot cannot finish in that time it will stop trying and move on to the next block in the stack. This keeps the robot from getting stuck on a movement.
设定驱动超时为 (1) 秒
参数 |
描述 |
|---|---|
时间 |
The number of seconds the robot can try to finish a movement. This can be a whole number or a decimal. |
例子
当开始 :: hat events
[Drive forward for 1 second, then turn.]
设定驱动超时为 (1) 秒
驱动 [向前 v] (25) [英寸 v] ▶
[右 v] 转 (90) 度 ▶
价值观#
drive is done#
The drive is done Boolean block reports whether the robot is finished moving. This can be used to control the timing of other behaviors based on the robot’s movement.
True — The robot is finished moving.
False — The robot is still moving.
This block works together with drivetrain blocks that have the and don’t wait parameter.
<驱动已结束?>
参数 |
描述 |
|---|---|
此代码块没有参数。 |
例子
当开始 :: hat events
[Start spinning when the drive is complete.]
驱动 [向前 v] (200) [毫米 v] ◀ 并且不等待
等到 <驱动已结束?>
[右 v] 转 (360) 度 ▶
drive is moving#
The drive is moving Boolean block reports whether the robot is moving. This can be used to control the timing of other behaviors based on the robot’s movement.
True — The robot is moving.
False — The robot is not moving.
This block works together with drivetrain blocks that have the and don’t wait parameter.
<驱动进行中?>
参数 |
描述 |
|---|---|
此代码块没有参数。 |
例子
当开始 :: hat events
[Print that the robot is moving while it is still driving.]
驱动 [向前 v] (200) [毫米 v] ◀ 并且不等待
当 <驱动进行中?>
打印 [Still Moving...] ▶
等待 (0.1) 秒
清屏
结束
打印 [Done!] ▶
drive heading#
A heading is the direction the robot is facing, measured in degrees. The drive heading reporter block reports that heading from 0 to 359.99 degrees.
The robot’s starting heading is 0 degrees.
(底盘归位角度值)
参数 |
描述 |
|---|---|
此代码块没有参数。 |
例子
当开始 :: hat events
[Display the heading after turning.]
[右 v] 转 (450) 度 ▶
在屏幕上打印 (底盘归位角度值)◀ 并设定光标为下一行
drive rotation#
Rotation is how much the robot has turned, measured in degrees. At the beginning of a project, the rotation value is set to 0 degrees. The drive rotation reporter block reports the robot’s current rotation.
Turning right increases the rotation, and turning left decreases the rotation. For example, making two full turns to the right will report a rotation of 720 degrees.
(底盘转向角度值)
参数 |
描述 |
|---|---|
此代码块没有参数。 |
例子
当开始 :: hat events
[Display the rotation after turning.]
[右 v] 转 (450) 度 ▶
在屏幕上打印 (底盘转向角度值)◀ 并设定光标为下一行
drive velocity#
The drive velocity reporter block reports how fast the robot is driving.
(驱动速度 [% v])
参数 |
描述 |
|---|---|
单元 |
The velocity unit: % |
例子
当开始 :: hat events
[Display the velocity after driving.]
驱动 [向前 v] (200) [毫米 v] ▶
在屏幕上打印 (驱动速度 [% v])◀ 并设定光标为下一行
运动#
Disco uses the intake motor group to spin the intake wheels so Discs can be collected and scored. The same wheels can also spin field rollers when they contact them.
The direction names describe how the intake motor group moves on Disco.
行动#
旋转马达#
The spin motor stack block spins a motor group in one of two directions forever. The motor group will continue to spin until it is given another action, like spinning in a different direction or stopping.
spin [IntakeMotorGroup v] [intake v]
参数 |
描述 |
|---|---|
motor |
The motor group to spin: IntakeMotorGroup. |
方向 |
The direction the motor group spins: intake or outtake. |
例子
当开始
[Spin the intake forward and then stop.]
spin [IntakeMotorGroup v] [intake v]
等待 (1) 秒
stop [IntakeMotorGroup v]
用于旋转马达#
The spin motor for stack block spins a motor group for a specific distance. The spin is relative to the current position of the motor group. The project will wait until the motor group is done spinning before the next block in the stack runs.
spin [IntakeMotorGroup v] [intake v] for (90) [degrees v] ▶
参数 |
描述 |
|---|---|
motor |
The motor group to spin: IntakeMotorGroup. |
方向 |
The direction the motor group spins: intake or outtake. |
距离 |
The distance the motor group spins. Degrees use whole numbers. Turns can use whole numbers or decimals. |
单元 |
The distance unit: degrees or turns. |
and don’t wait |
Select the arrow ( ▶ ) to expand the block to say and don’t wait, so the next block in the stack will run right away. |
例子
当开始
[Spin the intake forward and then stop.]
spin [IntakeMotorGroup v] [intake v] for [1] [turns v] ▶
旋转电机定位#
The spin motor to position stack block spins a motor group to a specific position.
A motor group’s position is how far it has spun, measured in degrees or turns. One turn is equal to 360 degrees. At the beginning of a project, the motor position is set to 0 degrees. The motor position can also be set using the set motor position block.
Position values are absolute. This means the direction of the spin depends on the motor group’s current position.
For example, if the motor group starts at 0 degrees and spins to a position of 720 degrees, it will spin forward two turns. If it then spins to a position of 360 degrees, it will spin reverse one turn, because 360 is less than 720.
spin [IntakeMotorGroup v] to position (90) [degrees v] ▶
参数 |
描述 |
|---|---|
motor |
The motor group to spin: IntakeMotorGroup. |
位置 |
The position value the motor group will spin to. Degrees use whole numbers. Turns can use whole numbers or decimals. |
单元 |
The position unit: degrees or turns. |
and don’t wait |
Select the arrow ( ▶ ) to expand the block to say and don’t wait, so the next block in the stack will run right away. |
例子
当开始
[Spin the intake forward and then stop.]
spin [IntakeMotorGroup v] to position [270] [degrees v] ▶
停止电机#
The stop motor stack block stops the selected motor group.
stop [IntakeMotorGroup v]
参数 |
描述 |
|---|---|
motor |
The motor group to stop: IntakeMotorGroup. |
例子
当开始
[Spin the intake forward and then stop.]
spin [IntakeMotorGroup v] [intake v]
等待 (1) 秒
stop [IntakeMotorGroup v]
设置#
设定电机速度#
The set motor velocity stack block tells a motor group how fast to spin. A higher percentage makes the motor group spin faster and a lower percentage makes the motor group spin slower.
Every project begins with each motor group spinning at 50% velocity by default.
Note: A higher velocity makes the motor group spin faster, but it may be less precise. A lower velocity makes the motor group spin slower, but it can be more precise.
set [IntakeMotorGroup v] velocity to [50] [% v]
参数 |
描述 |
|---|---|
motor |
The motor group to set the velocity of: IntakeMotorGroup. |
速度 |
The speed the motor group will spin at. Percent uses whole numbers from 0% to 100%. |
单元 |
The velocity unit: %. |
例子
当开始
[Spin the intake forward and then stop.]
set [IntakeMotorGroup v] velocity to [75] [% v]
spin [IntakeMotorGroup v] [intake v] for [1] [turns v] ▶
设置电机超时#
The set motor timeout stack block sets how much time a motor group will try to finish a movement. If the motor group cannot finish in that time, it will stop trying and move on to the next block in the stack. This keeps the motor group from getting stuck on a movement.
set [IntakeMotorGroup v] timeout to [1] seconds
参数 |
描述 |
|---|---|
motor |
The motor group to set the timeout of: IntakeMotorGroup. |
时间 |
The number of seconds the motor group can try to finish a movement. This can be a positive whole number or decimal. |
例子
当开始
[Spin the intake forward and then stop.]
set [IntakeMotorGroup v] timeout to [2] seconds
spin [IntakeMotorGroup v] [outtake v] for [3] [turns v] ▶
位置#
电机位置#
A motor group’s position is how far it has spun, measured in degrees or turns. One turn is equal to 360 degrees. The motor position reporter block reports the motor group’s current position.
At the beginning of a project, the motor group position is set to 0 degrees. If the motor group spins one full turn forward, the position will be 360 degrees or 1 turn. If the motor group spins the other direction, the position will be negative.
([IntakeMotorGroup v] position in [degrees v])
参数 |
描述 |
|---|---|
motor |
The motor group to report the position of: IntakeMotorGroup. |
单元 |
The unit to report the motor position in: degrees or turns. |
设置电机位置#
A motor group’s position is how far it has spun, measured in degrees or turns. One turn is equal to 360 degrees. The set motor position stack block changes the motor group’s current position to a new value.
For example, if a motor group has spun to 180 degrees, setting the position to 0 degrees will reset that position from 180 to 0 degrees. Then the motor group can spin to positions based on that new value.
set [IntakeMotorGroup v] position to (0) [degrees v]
参数 |
描述 |
|---|---|
motor |
The motor group to set the position of: IntakeMotorGroup. |
位置 |
The position value to set for the motor group. Degrees use whole numbers. Turns can use whole numbers or decimals. |
单元 |
The position unit: degrees or turns. |
例子
当开始
[Spin the intake forward and then stop.]
set [IntakeMotorGroup v] position to [90] [degrees v]
spin [IntakeMotorGroup v] to position [0] [degrees v] ▶
价值观#
电机已完成#
The motor is done Boolean block reports whether the motor group is finished moving. This can be used to control the timing of other behaviors based on the motor group’s movement.
True — The motor group is finished moving.
False — The motor group is still moving.
This block works together with the following Motion blocks that have the and don’t wait parameter: spin motor for and spin motor to position.
<[IntakeMotorGroup v] is done?>
参数 |
描述 |
|---|---|
motor |
The motor group to report whether it is finished moving: IntakeMotorGroup. |
motor is spinning#
The motor is spinning Boolean block reports whether the motor group is spinning. This can be used to control the timing of other behaviors based on the motor group’s movement.
True — The motor group is spinning.
False — The motor group is not spinning.
This block works together with the following Motion blocks that have the and don’t wait parameter: spin motor for and spin motor to position.
<[IntakeMotorGroup v] is spinning?>
参数 |
描述 |
|---|---|
motor |
The motor group to report whether it is spinning: IntakeMotorGroup. |
例子
当开始
[Take a Disc into the Intake.]
spin [IntakeMotorGroup v] [intake v] for [90] [degrees v] ◀ and don't wait
while <[IntakeMotorGroup v] is spinning?>
spin [IntakeMotorGroup v] to position [1000] [degrees v] ◀ and don't wait
结束
电机速度#
The motor velocity reporter block reports how fast the motor group is spinning, as a percentage from -100% to 100%.
([IntakeMotorGroup v] velocity in [% v] :: custom-motion)
参数 |
描述 |
|---|---|
motor |
The motor group to report the velocity of: IntakeMotorGroup. |
单元 |
The unit to report the motor velocity in: %. |
传感#
线路跟踪器#
线路跟踪器反射率#
The Line Tracker reflectivity reporter block reports the amount of light reflected from the surface as a percent.
([BottomLineTracker v] reflectivity in %)
范围 |
描述 |
|---|---|
设备 |
使用哪条线追踪器：
|
光学的#
Optical found an object#
The Optical found an object Boolean block reports whether or not the Optical Sensor detects an object within range.
True — The Optical Sensor detects an object.
False — The Optical Sensor does not detect an object.
<[RollerOptical v] found an object?>
参数 |
描述 |
|---|---|
此代码块没有参数。 |
Optical detects color#
The Optical detects color Boolean block reports whether the Optical Sensor detects a specified color, based on the detected hue value.
True – The sensor detects the specified color.
False – The sensor does not detect the specified color.
<[RollerOptical v] detects [red v]?>
参数 |
描述 |
|---|---|
颜色 |
Which color to look for:
|
光学亮度#
The Optical brightness reporter block reports how much light is reflected back to the Optical Sensor, as a percentage from 0% to 100%.
A higher percentage means more light is reflected back to the Optical Sensor. A lower percentage means less light is reflected back.
([RollerOptical v] brightness in %)
参数 |
描述 |
|---|---|
此代码块没有参数。 |
光学色调#
The Optical hue reporter block reports the hue detected by the Optical Sensor as a number from 0 to 359 degrees.
Hue is a way to describe color using numbers around a color wheel.
([RollerOptical v] hue in degrees)
参数 |
描述 |
|---|---|
此代码块没有参数。 |
光学#
The when Optical hat block runs the attached stack of blocks whenever the Optical Sensor detects or loses an object.
when [RollerOptical v] [detects v] an object
参数 |
描述 |
|---|---|
state |
When the attached stack of blocks will run: detects runs when an undetected object is detected, while loses runs when a detected object is now no longer detected. |
全球定位系统#
GPS定位#
GPS 位置 模块使用 GPS（游戏定位系统™）传感器返回机器人转弯参考点相对于场地中心的偏移位置。
([GPS v] position [X v] in [mm v])
参数 |
描述 |
|---|---|
轴 |
要报告哪个坐标轴：
|
单位 |
The unit to represent the position: mm or inches |
GPS航向#
GPS航向模块根据GPS（游戏定位系统™）传感器从VEX GPS场码读取的0.00到359.99度的读数，返回机器人当前面向的航向。
([GPS v] heading in degrees)
参数 |
描述 |
|---|---|
此代码块没有参数。 |