机器人专用模块#

介绍#

The GO Competition Robot includes Arm Motor controls and robot-specific sensing blocks.

All standard VEXcode VR Blocks are available for use in the GO Competition - Mars Math Expedition 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

  • 价值观

Motion – Move and track the robot’s Arm Motor.

感知——利用机器人的传感器。

  • 眼部传感器

    • Eye found an object — Reports whether or not the Eye Sensor detects an object within range.

    • Eye detects color — Reports whether the Eye Sensor detects a specific color.

    • Eye brightness — Reports the brightness detected by the Eye Sensor.

    • Eye hue — Reports the hue detected by the Eye Sensor.

  • 陀螺仪传感

    • detected crash — Reports whether the robot has detected a sudden impact.

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

When started, limits drive time to 1 second and then turns 90 degrees.#
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#

The GO Competition Advanced 2.0 Robot uses the arm motor to raise and lower the arm so it can pick up, lift, and carry objects.

行动#

旋转马达#

The spin motor stack block spins the Arm Motor up or down 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

参数

描述

motor

The motor to spin: ArmMotor.

方向

The direction the motor spins: up or down.

例子

当开始
[Raise the Arm Motor, then stop.]
[ArmMotor v] [向上 v] 转
等待 (1) 秒
[ArmMotor v] 停止

用于旋转马达#

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.

[ArmMotor v] [向上 v] 转 [90] [度 v] ▶

参数

描述

motor

The motor to spin: ArmMotor.

方向

The direction the motor spins: up or down.

距离

The distance the motor spins. Degrees use integers. Turns can use integers 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
[Raise the Arm Motor by 200 degrees.]
spin [ArmMotor v] [up v] for [200] [degrees v] ▶

旋转电机定位#

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 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’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.

spin [ArmMotor v] to position [90] [degrees v] ▶

参数

描述

motor

The motor to spin: ArmMotor.

位置

The position value the motor will spin to. Degrees use integers. Turns can use integers 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
[Move the Arm Motor to 180 degrees.]
spin [ArmMotor v] to position [180] [degrees v] ▶

停止电机#

The stop motor stack block stops the selected motor.

[ArmMotor v] 停止

参数

描述

motor

The motor to stop: ArmMotor.

例子

当开始
[Raise the Arm Motor, then stop.]
[ArmMotor v] [向上 v] 转
等待 (1) 秒
[ArmMotor v] 停止

设置#

设定电机速度#

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.

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

参数

描述

motor

The motor to set the velocity of: ArmMotor.

速度

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

单元

The velocity unit: %.

例子

当开始
[Set the Arm Motor velocity to 100%.]
set [ArmMotor v] velocity to [100] [% v]
spin [ArmMotor v] [up v] for [1] [turns v] ▶

设置电机超时#

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

参数

描述

motor

The motor to set the timeout of: ArmMotor.

时间

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

例子

当开始
[Limit Arm Motor movement to 1 second.]
设定 [ArmMotor v] 超时为 [1] 秒
spin [ArmMotor v] [up v] for [3] [turns v] ▶

位置#

电机位置#

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 motor position is set to 0 degrees. If the motor spins one full turn forward, the position will be 360 degrees or 1 turn. If the motor spins the other direction, the position will be negative.

([ArmMotor v] 转位 [度 v] :: custom-motion)

参数

描述

motor

The motor to report the position of: ArmMotor.

单元

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

例子

当开始
[Print the Arm Motor position.]
打印 ([ArmMotor v] 转位 [度 v] :: custom-motion) ▶

设置电机位置#

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]

参数

描述

motor

The motor to set the position of: ArmMotor.

位置

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

单元

The position unit: degrees or turns.

例子

当开始
[Set the Arm Motor to 90 degrees, then return to 0 degrees.]
set [ArmMotor v] position to [90] [degrees v]
[ArmMotor v] 转至 [0] [度 v] ▶

价值观#

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？>

参数

描述

motor

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

例子

当开始
[Check when the Arm Motor has finished moving.]
[ArmMotor v] [向上 v] 转 [180] [度 v] ◀ 并且不等待
等待 (0.1) 秒
如果 <[ArmMotor v] 已结束？> 那么
print [Arm Motor is done.] ▶
结束

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？>

参数

描述

motor

The motor to report whether it is spinning: ArmMotor.

例子

当开始
[Check whether the Arm Motor is moving.]
[ArmMotor v] [向上 v] 转 [180] [度 v] ◀ 并且不等待
等待 (0.1) 秒
如果 <[ArmMotor v] 正在转？> 那么
print [Arm Motor is spinning.] ▶
结束

电机速度#

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

A positive value means the motor is spinning forward. A negative value means the motor is spinning in reverse.

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

参数

描述

motor

The motor to report the velocity of: ArmMotor.

单元

The unit to report the motor velocity in: %.

例子

当开始
[Print the Arm Motor velocity.]
print ([ArmMotor v] velocity in [% v] :: custom-motion) ▶

传感#

虚拟英雄机器人还可以访问标准的大脑和驱动系统传感模块。

眼睛#

Eye found an object#

The Eye found an object Boolean block reports whether or not the Eye Sensor detects an object within range.

  • True — The Eye Sensor detects an object.

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

<[FrontEye v] found an object?>

参数

描述

此代码块没有参数。

例子

当开始
[Check whether the Front Eye Sensor detects an object.]
if <[FrontEye v] found an object?> then
print [Object detected!] ▶
否则
print [No object detected.] ▶
结束

Eye detects color#

The Eye detects color Boolean block reports whether the Eye Sensor detects a specific color, based on the detected hue value.

  • True — The Eye Sensor detects the selected color.

  • False — The Eye Sensor does not detect the selected color.

To check the exact hue value detected by the Eye Sensor, use the eye hue reporter block.

<[FrontEye v] 测得 [红色 v]？>

参数

描述

颜色

The color for the Eye Sensor to detect:

  • red – Hue value between 340° and 20°.
  • green – Hue value between 75° and 154°.
  • blue – Hue value between 160° and 254°.
  • none – None of the available colors are detected.

例子

当开始
[Check whether the Front Eye Sensor detects blue.]
if <[FrontEye v] detects [blue v]?> then
print [Blue object detected.] ▶
结束

眼睛亮度#

The Eye brightness reporter block reports how much light is reflected back to the Eye Sensor, as a percentage from 0% to 100%.

A higher percentage means more light is reflected back to the Eye Sensor. A lower percentage means less light is reflected back.

([FrontEye v] 亮度百分比)

参数

描述

此代码块没有参数。

例子

当开始
[Print the brightness detected by the Front Eye Sensor.]
print ([FrontEye v] brightness in %) ▶

眼睛颜色#

The Eye hue reporter block reports the hue detected by the Eye Sensor as a number from 0 to 359 degrees.

Hue is a way to describe color using numbers around a color wheel.

A circular color wheel displaying a full spectrum of hues labeled with degree values around the perimeter, increasing in 30-degree increments from 0 degrees at the top to 360 degrees.

([FrontEye v] hue in degrees)

参数

描述

此代码块没有参数。

例子

当开始
[Print the hue detected by the Front Eye Sensor.]
print ([FrontEye v] hue in degrees) ▶

陀螺仪#

The GO Competition Advanced 2.0 Robot uses gyro sensing to detect sudden impacts, such as hitting a wall or object.

detected crash#

The detected crash Boolean block reports whether the robot has detected a sudden impact, such as hitting a wall or object hard enough to quickly change its motion.

  • True — A crash has been detected.

  • False — A crash has not been detected.

<检测到碰撞？>

参数

描述

此代码块没有参数。

例子

当开始
[Drive until the robot crashes, then stop.]
驱动 [向前 v]
等到 <检测到碰撞？>
驱动停止
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