Robot-Specific Blocks#

Introduction#

The Hero Bot, Flex, includes a ClawMotor, an ArmMotor, an AI Vision Sensor, a Distance Sensor, and a Game Positioning System (GPS) Sensor.

All standard VEXcode VR Blocks are available for use in the V5 26-27 Override Playground.

Below is a list of all available Robot-specific Blocks:

Drivetrain – Move and turn the robot.

  • Actions

    • 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.

  • Settings

  • Values

Motion – Move and track the robot’s motors.

AI Vision – Capture and analyze objects using the AI Vision Sensor.

  • Actions

    • get object data – Captures data for a specific signature, such as a detected AI Classification.

  • Settings

  • Values

Sensing – Utilize the robot’s various sensors.

  • Distance

    • Distance found an object – Reports whether the Distance Sensor detects an object within range.

    • object distance – Reports the distance between the Distance Sensor and the nearest detected 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 Starting Location C from the Playground’s Pre-Match checklist.

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.

Actions#

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]

Parameters

Description

direction

The direction the robot moves: forward or reverse.

Example

当开始 :: hat events
[Raise the Arm, drive to the Goal, release the Pin.]
spin [ArmMotor v] [up v] for (300) [degrees v] ▶
驱动 [向前 v]
等待 (0.5) 秒
驱动停止
spin [ClawMotor v] [open v] for (180) [degrees v] ▶

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] ▶

Parameters

Description

direction

The direction the robot moves: forward or reverse.

distance

The distance the robot drives. This can be an integer or a decimal.

unit

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.

Example

当开始 :: hat events
[Raise the Arm, drive to the Goal, release the Pin.]
spin [ArmMotor v] [up v] for (300) [degrees v] ▶
drive [forward v] for (10) [inches v] ▶
spin [ClawMotor v] [open v] for (180) [degrees 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

Parameters

Description

direction

The direction the robot turns: left or right.

Example

当开始 :: hat events
[Score a Pin in a Neutral Goal.]
[左 v] 转
wait (0.78) seconds
驱动停止
spin [ArmMotor v] [up v] for (800) [degrees v] ▶
驱动 [向前 v] (25) [英寸 v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶

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 ▶

Parameters

Description

direction

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.

Example

当开始 :: hat events
[Score a Pin in a Neutral Goal.]
turn [left v] for (110) degrees ▶
spin [ArmMotor v] [up v] for (800) [degrees v] ▶
驱动 [向前 v] (25) [英寸 v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶

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 ▶

Parameters

Description

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.

Example

当开始 :: hat events
[Score a Pin in a Neutral Goal.]
turn to heading (-110) degrees ▶
spin [ArmMotor v] [up v] for (800) [degrees v] ▶
驱动 [向前 v] (25) [英寸 v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶

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 ▶

Parameters

Description

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.

Example

当开始 :: hat events
[Score a Pin in a Neutral Goal.]
turn to rotation (-110) degrees ▶
spin [ArmMotor v] [up v] for (800) [degrees v] ▶
驱动 [向前 v] (25) [英寸 v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶

stop driving#

The stop driving stack block stops the robot’s movement.

驱动停止

Parameters

Description

This block has no parameters.

Example

当开始 :: hat events
[Score a Pin in a Neutral Goal.]
spin [ArmMotor v] [up v] for (300) [degrees v] ▶
驱动 [向前 v]
等待 (0.5) 秒
驱动停止
spin [ClawMotor v] [open v] for (180) [degrees v] ▶

Settings#

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]

Parameters

Description

velocity

The velocity to drive with from 0% to 100%.

unit

The velocity unit: %

Example

当开始 :: hat events
[Score a Pin in a Neutral Goal.]
turn [left v] for (110) degrees ▶
spin [ArmMotor v] [up v] for (800) [degrees v] ▶
设定驱动速度为 (100) [% v]
驱动 [向前 v] (25) [英寸 v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶

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]

Parameters

Description

velocity

The velocity to turn with from 0% to 100%.

unit

The velocity unit: %

Example

当开始 :: hat events
[Turn to face the Neutral Goal faster.]
设定转向速度为 (100) [% v]
turn [left v] for (110) degrees ▶

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

Parameters

Description

heading

The heading value, in degrees, to set for the robot.

Example

当开始 :: hat events
[Make facing the Neutral Goal the new heading.]
set drive heading to (110) degrees
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

Parameters

Description

rotation

The rotation value, in degrees, to set for the robot. This can be an integer or a decimal.

Example

当开始 :: hat events
[Make facing the Neutral Goal the new rotation.]
set drive rotation to (110) degrees
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

Parameters

Description

time

The number of seconds the robot can try to finish a movement. This can be a whole number or a decimal.

Example

当开始 :: hat events
[Turn to face the Neutral Goal.]
set drive timeout to (0.8) seconds
turn [left v] for (180) degrees ▶

Values#

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?>

Parameters

Description

This block has no parameters.

Example

当开始 :: hat events
[Score a Pin in a Neutral Goal.]
turn [left v] for (110) degrees ▶
spin [ArmMotor v] [up v] for (800) [degrees v] ▶
drive [forward v] for (25) [inches v] ◀ and don't wait
等到 <驱动已结束?>
spin [ClawMotor v] [open v] for (180) [degrees v] ▶

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?>

Parameters

Description

This block has no parameters.

Example

当开始 :: hat events
[Raise the Arm once stopped near the Goal.]
turn [left v] for (110) degrees ▶
drive [forward v] for (25) [inches v] ◀ and don't wait
当 <驱动进行中?>
wait (0.005) seconds
结束
spin [ArmMotor v] [up v] for (800) [degrees v] ▶

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)

Parameters

Description

This block has no parameters.

Example

当开始 :: hat events
[Turn to the Goal, then show heading.]
[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)

Parameters

Description

This block has no parameters.

Example

当开始 :: hat events
[Spin to find a Pin, then show rotation.]
[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])

Parameters

Description

unit

The velocity unit: %

Example

当开始 :: hat events
[Show speed while driving to the Goal.]
drive [forward v] for (150) [mm v] ▶
在屏幕上打印 (驱动速度 [% v])◀ 并设定光标为下一行

Motion#

Flex uses the ArmMotor to lift and lower the arm, and the ClawMotor to open and close the claw.

Each motor has its own direction options. The direction names describe how that motor moves on Flex.

Actions#

spin motor#

The spin motor stack block spins a motor in one of two directions forever. The motor will continue to spin until it is given another action, like spinning in a different direction or stopping.

[ArmMotor v] [向上 v] 转

Parameters

Description

motor

The motor to spin: ArmMotor or ClawMotor.

direction

The direction the motor spins:

  • ArmMotor — up or down
  • ClawMotor — open or close

Example

当开始
[Raise the Arm before driving toward a Pin.]
[ArmMotor v] [向上 v] 转
等待 (1) 秒
[ArmMotor v] 停止

spin motor for#

The spin motor for stack block spins a motor for a specific distance. The spin is relative to the current position of the motor. The project will wait until the motor is done spinning before the next block in the stack runs.

spin [ArmMotor v] [up v] for (90) [degrees v] ▶

Parameters

Description

motor

The motor to spin: ArmMotor or ClawMotor.

direction

The direction the motor spins:

  • ArmMotor — up or down
  • ClawMotor — open or close

distance

The distance the motor spins. Degrees use integers. Turns can use integers or decimals.

unit

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.

Example

当开始
[Raise the Arm to carry the Pin to the Goal.]
spin [ArmMotor v] [up v] for (800) [degrees v] ▶

spin motor to position#

The spin motor to position stack block spins a motor to a specific position.

A motor’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 ArmMotor’s position is set to 0 degrees. The ClawMotor is the exception — it starts at 467 degrees (fully closed). 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’s current position.

For example, if the motor 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.

[ArmMotor v] 转至 (90) [度 v] ▶

Parameters

Description

motor

The motor to spin: ArmMotor or ClawMotor.

position

The position value the motor will spin to. Degrees use integers. Turns can use integers or decimals.

unit

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.

Example

当开始
[Raise the Arm, then release the Pin.]
spin [ArmMotor v] to position (800) [degrees v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶

stop motor#

The stop motor stack block stops the selected motor.

[ArmMotor v] 停止

Parameters

Description

motor

The motor to stop: ArmMotor or ClawMotor.

Example

当开始
[Raise the Arm partway to hold the Pin.]
[ArmMotor v] [向上 v] 转
等待 (1) 秒
[ArmMotor v] 停止

Settings#

set motor velocity#

The set motor velocity stack block tells a motor how fast to spin. A higher percentage makes the motor spin faster and a lower percentage makes the motor spin slower.

Every project begins with each motor spinning at 50% velocity by default.

Note: A higher velocity makes the motor spin faster, but it may be less precise. A lower velocity makes the motor spin slower, but it can be more precise.

set [ArmMotor v] velocity to [50] [% v]

Parameters

Description

motor

The motor to set the velocity of: ArmMotor or ClawMotor.

velocity

The speed the motor will spin at. Percent uses whole numbers from 0% to 100%.

unit

The velocity unit: %.

Example

当开始
[Raise the Arm fast to release the Pin.]
set [ArmMotor v] velocity to [100] [% v]
spin [ArmMotor v] [up v] for (800) [degrees v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶

set motor timeout#

The set motor timeout stack block sets how much time a motor will try to finish a movement. If the motor cannot finish in that time, it will stop trying and move on to the next block in the stack. This keeps the motor from getting stuck on a movement.

设定 [ArmMotor v] 超时为 [1] 秒

Parameters

Description

motor

The motor to set the timeout of: ArmMotor or ClawMotor.

time

The number of seconds the motor can try to finish a movement. This can be a whole number or decimal.

Example

当开始
[Score a Pin in a Neutral Goal.]
turn [left v] for (110) degrees ▶
设定 [ArmMotor v] 超时为 [1] 秒
spin [ArmMotor v] [up v] for (1800) [degrees v] ▶
驱动 [向前 v] (25) [英寸 v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶

Position#

motor position#

A motor’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’s current position.

At the beginning of a project, the ArmMotor’s position is set to 0 degrees. The ClawMotor is the exception — it starts at 467 degrees (fully closed). If the motor spins one full turn forward, the position increases. If the motor spins the other direction, the position decreases.

([ArmMotor v] position in [degrees v])

Parameters

Description

motor

The motor to report the position of: ArmMotor or ClawMotor.

unit

The unit to report the motor position in: degrees or turns.

Example

当开始
[Raise the Arm, then release the Pin.]
while <([ArmMotor v] position in [degrees v]) < (800)>
[ArmMotor v] [向上 v] 转
wait (0.002) seconds
结束
[ArmMotor v] 停止
spin [ClawMotor v] [open v] for (180) [degrees v] ▶

set motor position#

A motor’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’s current position to a new value.

For example, if a motor has spun to 180 degrees, setting the position to 0 degrees will reset that position from 180 to 0 degrees. Then the motor can spin to positions based on that new value.

设定 [ArmMotor v] 转位至 (0) [度 v]

Parameters

Description

motor

The motor to set the position of: ArmMotor or ClawMotor.

position

The position value to set for the motor. Degrees use integers. Turns can use integers or decimals.

unit

The position unit: degrees or turns.

Example

当开始
[Reset encoder, raise Arm, place Pin.]
设定 [ArmMotor v] 转位至 (0) [度 v]
spin [ArmMotor v] to position (800) [degrees v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶

Values#

motor is done#

The motor is done Boolean block reports whether the motor is finished moving. This can be used to control the timing of other behaviors based on the motor’s movement.

  • True — The motor is finished moving.

  • False — The motor 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.

<[ArmMotor v] 已结束？>

Parameters

Description

motor

The motor to report whether it is finished moving: ArmMotor or ClawMotor.

Example

当开始
[Raise the Arm while driving to the Goal.]
spin [ArmMotor v] to position (800) [degrees v] ◀ and don't wait
等待 (0.1) 秒
while <not <[ArmMotor v] is done?>>
驱动 [向前 v]
wait (0.005) seconds
结束
驱动停止

motor is spinning#

The motor is spinning Boolean block reports whether the motor is spinning. This can be used to control the timing of other behaviors based on the motor’s movement.

  • True — The motor is spinning.

  • False — The motor 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.

<[ArmMotor v] 正在转？>

Parameters

Description

motor

The motor to report whether it is spinning: ArmMotor or ClawMotor.

Example

当开始
[Raise the Arm while driving to the Goal, then release the Pin.]
spin [ArmMotor v] to position (800) [degrees v] ◀ and don't wait
等待 (0.1) 秒
while <[ArmMotor v] is spinning?>
drive [forward v] for (20) [mm v] ▶
结束
spin [ClawMotor v] [open v] for (180) [degrees v] ▶

motor velocity#

The motor velocity reporter block reports how fast the motor is spinning, as a percentage from -100% to 100%.

([ArmMotor v] velocity in [% v] :: custom-motion)

Parameters

Description

motor

The motor to report the velocity of: ArmMotor or ClawMotor.

unit

The unit to report the motor velocity in: %.

Example

当开始
[Show Arm Motor velocity while raising.]
set [ArmMotor v] velocity to [100] [% v]
spin [ArmMotor v] to position (800) [degrees v] ◀ and don't wait
wait (0.2) seconds
print ([ArmMotor v] velocity in [% v] :: custom-motion) on screen ◀ and set cursor to next row

AI Vision#

Actions#

get object data#

The get object data block filters data from the AI Vision Sensor frame to a single signature — a saved description of something the sensor can recognize, such as a game element 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 the 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 [AIVision v]

Parameter

Description

signature

Filters the dataset to only include data of the given signature. Available signatures are:

  • AI Classifications - Detects RedBluePin, BlueYellowPin, RedYellowPin, YellowPin, and Cup game elements.
  • AprilTags - Detects the AprilTag IDs found on the field.

Example

当开始
[Raise the Arm, drive to the Goal, release the Pin.]
spin [ArmMotor v] [up v] for (300) [degrees v] ▶
drive [forward v] for (10) [inches v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶
turn [left v] for (70) degrees ▶
[Turn to face the Pin.]
set turn velocity to (30) [% v]
永久循环
get [AI Classifications v] data from [AIVision v]
if <[AIVision v] object exists?> then
if <([AIVision v] object [centerX v]) < (140)> then
[左 v] 转
else if <([AIVision v] object [centerX v]) > (180)> then
[右 v] 转
否则
驱动停止
退出循环
结束
结束
结束

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
[Raise the Arm, drive to the Goal, release the Pin.]
spin [ArmMotor v] [up v] for (300) [degrees v] ▶
drive [forward v] for (10) [inches v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶
turn [left v] for (70) degrees ▶
get [AI Classifications v] data from [AIVision v]
[Check if any AI Classifications were detected in the last snapshot.]
if <[AIVision v] object exists?> then
[If any AI Classification is detected, check if any of them are a specific game element.]
if <[AIVision v] object is [RedBluePin v]?> then
print [RedBluePin detected.] ▶
否则
print [No RedBluePin detected.] ▶
结束
结束

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
[Raise the Arm, drive to the Goal, release the Pin.]
spin [ArmMotor v] [up v] for (300) [degrees v] ▶
drive [forward v] for (10) [inches v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶
turn [left v] for (70) degrees ▶
get [AI Classifications v] data from [AIVision v]
[Check if any AI Classifications were detected in the last snapshot.]
if <[AIVision v] object exists?> then
print ([AIVision v] object count) ◀ and set cursor to next row
结束

object is#

The 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 object is Boolean block.#
<[AIVision v] object is [RedBluePin v]?>

Parameter

Description

object

Which object to compare the item to:

  • RedBluePin
  • BlueYellowPin
  • RedYellowPin
  • YellowPin
  • Cup

Example

当开始
[Raise the Arm, drive to the Goal, release the Pin.]
spin [ArmMotor v] [up v] for (300) [degrees v] ▶
drive [forward v] for (10) [inches v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶
turn [left v] for (70) degrees ▶
get [AI Classifications v] data from [AIVision v]
if <[AIVision v] object exists?> then
if <[AIVision v] object is [RedBluePin v]?> then
print [RedBluePin detected.] ▶
否则
print [No RedBluePin detected.] ▶
结束
结束

object is AprilTag#

The object is AprilTag block returns a Boolean indicating whether the detected object is an AprilTag that matches a specific ID.

  • True – The detected object is an AprilTag with the given ID.

  • False – The detected object is not an AprilTag with the given ID.

The object is AprilTag Boolean block.#
<[AIVision v] object is AprilTag [0] ?>

Parameter

Description

AprilTag ID

The ID number to compare against the detected AprilTag.

Example

当开始
[Report if AprilTag 3 is detected.]
get [AprilTags v] data from [AIVision v]
if <[AIVision v] object exists?> then
if <[AIVision v] object is AprilTag [3] ?> then
print [That is 3!] ▶
否则
print [That isn't 3!] ▶
结束
结束

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
[Raise the Arm, drive to the Goal, release the Pin.]
spin [ArmMotor v] [up v] for (300) [degrees v] ▶
drive [forward v] for (10) [inches v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶
turn [left v] for (70) degrees ▶
get [AI Classifications v] data from [AIVision v]
if <[AIVision v] object exists?> then
print ([AIVision v] object count) ◀ and set cursor to next row
结束

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])

All property values describe the detected object’s position and size in the AI Vision Sensor’s view at the moment the get object data block was used. These values are measured in pixels, based on the sensor’s 320 by 240 pixel resolution.

Parameter

Description

property

Which property of the detected object to use:

width#

The width property reports the width of the detected object in pixels as a whole number 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
[Raise the Arm, drive to the Goal, release the Pin.]
spin [ArmMotor v] [up v] for (300) [degrees v] ▶
drive [forward v] for (10) [inches v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶
turn [left v] for (70) degrees ▶
[Approach the next Cup and Pin.]
set drive velocity to (30) [% 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]) > (140)> then
驱动停止
退出循环
否则
驱动 [向前 v]
结束
结束
结束
height#

The height property reports the height of the detected object in pixels as a whole number 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
[Raise the Arm, drive to the Goal, release the Pin.]
spin [ArmMotor v] [up v] for (300) [degrees v] ▶
drive [forward v] for (10) [inches v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶
turn [left v] for (70) degrees ▶
[Approach the next Cup and Pin.]
set drive velocity to (30) [% 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]) > (200)> then
驱动停止
退出循环
否则
驱动 [向前 v]
结束
结束
结束
centerX#

The centerX property reports the x-coordinate of the center of the detected object in pixels as a whole number 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
[Raise the Arm, drive to the Goal, release the Pin.]
spin [ArmMotor v] [up v] for (300) [degrees v] ▶
drive [forward v] for (10) [inches v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶
turn [left v] for (70) degrees ▶
[Turn and approach the next Cup and Pin.]
set turn velocity to (30) [% v]
永久循环
get [AI Classifications v] data from [AIVision v]
if <[AIVision v] object exists?> then
if <([AIVision v] object [centerX v]) < (140)> then
turn [left v] for (5) degrees ▶
否则
驱动 [向前 v] (25) [英寸 v] ▶
退出循环
结束
结束
结束
centerY#

The centerY property reports the y-coordinate of the center of the detected object in pixels as a whole number 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
[Raise the Arm, drive to the Goal, release the Pin.]
spin [ArmMotor v] [up v] for (300) [degrees v] ▶
drive [forward v] for (10) [inches v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶
turn [left v] for (70) degrees ▶
[Approach the next Cup and Pin.]
set drive velocity to (30) [% 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]) > (230)> then
驱动停止
退出循环
否则
驱动 [向前 v]
结束
结束
结束
originX#

The originX property reports the x-coordinate of the top-left corner of the detected object’s bounding box in pixels as a whole number 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
[Raise the Arm, drive to the Goal, release the Pin.]
spin [ArmMotor v] [up v] for (300) [degrees v] ▶
drive [forward v] for (10) [inches v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶
turn [left v] for (70) degrees ▶
[Turn and approach the next Cup and Pin.]
set turn velocity to (30) [% v]
永久循环
get [AI Classifications v] data from [AIVision v]
if <[AIVision v] object exists?> then
if <([AIVision v] object [originX v]) < (100)> then
turn [left v] for (5) degrees ▶
否则
驱动 [向前 v] (25) [英寸 v] ▶
退出循环
结束
结束
结束
originY#

The originY property reports the y-coordinate of the top-left corner of the detected object’s bounding box in pixels as a whole number 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
[Raise the Arm, drive to the Goal, release the Pin.]
spin [ArmMotor v] [up v] for (300) [degrees v] ▶
drive [forward v] for (10) [inches v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶
turn [left v] for (70) degrees ▶
[Approach the next Cup and Pin.]
set drive velocity to (30) [% v]
永久循环
get [AI Classifications v] data from [AIVision v]
if <[AIVision v] object exists?> then
if <([AIVision v] object [originY v]) > (140)> then
驱动停止
退出循环
否则
驱动 [向前 v]
结束
结束
结束

Sensing#

Distance#

Distance found an object#

The Distance found an object Boolean block reports whether the Distance Sensor currently detects an object within 2000mm.

  • True — The Distance Sensor detects an object.

  • False — The Distance Sensor does not detect an object.

<[FrontDistance v] 发现对象？>

Parameters

Description

distance sensor

The Distance Sensor to use. Choose from the Distance Sensors available for Flex.

Example

当开始 :: hat events
[Turn until something is detected, then release the Pin.]
[右 v] 转
等到 <[FrontDistance v] 发现对象？>
驱动停止
spin [ArmMotor v] [up v] for (300) [degrees v] ▶
drive [forward v] for (10) [inches v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶

object distance#

The object distance reporter block reports the distance between the Distance Sensor and the nearest detected object.

([FrontDistance v] 距离 [毫米 v])

Parameters

Description

distance sensor

The Distance Sensor to use. Choose from the Distance Sensors available for Flex.

unit

The distance unit: mm or inches.

Example

当开始 :: hat events
[Drive until 200 mm from the Goal, then release the Pin.]
驱动 [向前 v]
wait until <([FrontDistance v] distance in [mm v]) < (200)>
驱动停止
spin [ArmMotor v] [up v] for (300) [degrees v] ▶
drive [forward v] for (10) [inches v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶

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 or inches

Example

当开始 :: hat events
[Raise the Arm, drive to the Goal, release the Pin.]
spin [ArmMotor v] [up v] for (300) [degrees v] ▶
驱动 [向前 v]
wait until <([GPS v] position [X v] in [mm v]) > (-1370)>
驱动停止
spin [ClawMotor v] [open v] for (180) [degrees v] ▶

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 :: hat events
[Raise the Arm, drive to the Goal, release the Pin.]
spin [ArmMotor v] [up v] for (300) [degrees v] ▶
drive [forward v] for (10) [inches v] ▶
spin [ClawMotor v] [open v] for (180) [degrees v] ▶
[Turn left to face the Neutral Goal.]
set turn velocity to (30) [% v]
[左 v] 转
wait until <([GPS v] heading in degrees) < (18)>
驱动停止
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