机器人专用 Python#

介绍#

VIQRC 25-26 Mix & Match 游乐场具有该游乐场独有的功能，包括两种电机选项、IQ AI 视觉传感器、光学传感器和触摸 LED。

所有标准的 VEXcode VR 方法都可以在 VIQRC 25-26 Mix & Match Playground 中使用。

以下是所有可用的 Playground 特定方法列表：

运动控制 - 控制机器人电机的移动和跟踪。

  • 操作

    • spin - Spins the selected motor indefinitely.

    • spin_for - Spins a motor for a specific distance in degrees or turns.

    • spin_to_position - Spins a motor to a set position.

    • stop - Stops a specific motor from spinning.

  • 变异因子

    • set_position - Sets the encoder value of a motor.

    • set_velocity - Sets the speed of a motor as a percentage.

    • set_timeout - Limits how long a motor command waits before giving up if movement is blocked.

  • Getters

    • is_done - Returns a Boolean indicating whether the motor is no longer spinning.

    • is_spinning - Returns a Boolean indicating whether the motor is currently spinning.

    • position - Returns the motor’s current rotational position in degrees or turns.

    • velocity - Returns the motor’s current velocity in percent.

AI视觉——使用IQ AI视觉传感器捕捉和分析物体。

  • Getters

    • take_snapshot - Returns a tuple of detected objects based on a given signature.

  • 特性

    • width - Width of the detected object in pixels.

    • height - Height of the detected object in pixels.

    • centerX - X position of the object’s center in pixels.

    • centerY - Y position of the object’s center in pixels.

    • originX - X position of the object’s top-left corner in pixels.

    • originY - Y position of the object’s top-left corner in pixels.

    • id - Classification or tag ID of the object.

感知——利用机器人的各种传感器。

  • 触摸式LED灯

    • set_color - Sets the Touch LED to a selected color.

  • 光学的

    • is_near_object - Returns whether a detected object is near the Optical Sensor.

    • color - Returns the color detected by the Optical Sensor.

    • brightness - Returns the brightness percentage detected by the sensor.

    • hue - Returns the hue value of the detected color.

    • object_detected - Registers a callback function for when the Optical Sensor detects an object.

    • object_lost - Registers a callback function for when the Optical Sensor loses an object.

本页示例使用 Playground 的默认起始位置。

运动#

行动#

旋转#

spin spins a motor indefinitely.

用法：
此方法可以使用两种可用的电机对象之一，如下所示：

发动机

命令

claw_motor

claw_motor.spin(direction) - The claw motor

lift_motor

lift_motor.spin(direction) - The lift motor

参数

描述

direction

The direction for the motor to spin:

  • FORWARD - Opens the claw or lowers the lift.
  • REVERSE - Closes the claw or raises the lift.

 
def main():
    # Raise the lift, drive forward, then open the claw.
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

spin_for#

spin_for spins a motor for a given amount of degrees or turns.

用法：
此方法可以使用两种可用的电机对象之一，如下所示：

发动机

命令

claw_motor

claw_motor.spin_for(direction, distance, units, wait=True) - The claw motor

lift_motor

lift_motor.spin_for(direction, distance, units, wait=True) - The lift motor

参数

描述

direction

The direction for the motor to spin:

  • FORWARD - Opens the claw or lowers the lift.
  • REVERSE - Closes the claw or raises the lift.

distance

电机旋转的距离，以整数表示。

units

The unit that represents the distance to rotate:

  • DEGREES
  • TURNS

wait

Optional.

  • wait=True (default) - The robot waits until spin_for is complete before executing the next line of code.
  • wait=False - The robot starts the action and moves on to the next line of code right away.

 
def main():
    # Raise the lift, drive forward, then open the claw.
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

自旋至位置#

spin_to_position spins a motor to a given position.

用法：
此方法可以使用两种可用的电机对象之一，如下所示：

发动机

命令

claw_motor

claw_motor.spin_to_position(angle, units, wait=True) - The claw motor

lift_motor

lift_motor.spin_to_position(angle, units, wait=True) - The lift motor

参数

描述

angle

电机旋转的具体角度或圈数。

units

The unit that represents the angle to rotate to:

  • DEGREES
  • TURNS

wait

Optional.

  • wait=True (default) - The robot waits until spin_to_position is complete before executing the next line of code.
  • wait=False - The robot starts the action and moves on to the next line of code right away.

 
def main():
    # Raise the lift to a known position, drive, then open the claw
    lift_motor.spin_to_position(-2, TURNS)
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

停止电机#

stop stops a motor from spinning.

用法：
此方法可以使用两种可用的电机对象之一，如下所示：

发动机

命令

claw_motor

claw_motor.stop() - The claw motor

lift_motor

lift_motor.stop() - The lift motor

参数

描述

此方法没有参数。

 
def main():
    # Raise the lift for 2 seconds, then stop
    lift_motor.spin(REVERSE)
    wait(2, SECONDS)
    lift_motor.stop()
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

变异体#

设置位置#

set_position sets a motor’s encoder position to the given position value.

用法：
此方法可以使用两种可用的电机对象之一，如下所示：

发动机

命令

claw_motor

claw_motor.set_position(position, units) - The claw motor

lift_motor

lift_motor.set_position(position, units) - The lift motor

参数

描述

position

要设置的电机编码器的具体整数值。

units

The unit that represents the angle to rotate to:

  • DEGREES
  • TURNS

 
def main():
    # Reset the lift position, then move to a new target.
    lift_motor.set_position(100, DEGREES)
    lift_motor.spin_to_position(-500, DEGREES)
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

设置速度#

set_velocity sets the speed of a motor.

用法：
此方法可以使用两种可用的电机对象之一，如下所示：

发动机

命令

claw_motor

claw_motor.set_velocity(velocity, units) - The claw motor

lift_motor

lift_motor.set_velocity(velocity, units) - The lift motor

参数

描述

velocity

IQ 电机的旋转速度，范围从 0 到 100。

units

The unit that represents the new velocity:

  • PERCENT

 
def main():
    # Set lift speed, then raise it.
    lift_motor.set_velocity(100, PERCENT)
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

设置超时#

set_timeout sets a time limit for a motor’s movement commands. This prevents motion commands that do not reach their intended position from preventing subsequent commands from running.

用法：
此方法可以使用两种可用的电机对象之一，如下所示：

发动机

命令

claw_motor

claw_motor.set_timeout(value, units) - The claw motor

lift_motor

lift_motor.set_timeout(value, units) - The lift motor

参数

描述

value

电机停止前等待的时间。

units

The unit to represent the timeout:

  • SECONDS
  • MSEC - milliseconds

 
def main():
    # Limit how long the lift waits to reach its target.
    lift_motor.set_timeout(2, SECONDS)
    lift_motor.spin_for(REVERSE, 5, TURNS)
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

获取器#

已完成#

is_done returns a Boolean indicating whether the specified motor is not spinning.

  • True - The specified motor is not spinning.

  • False - The specified motor is spinning.

用法：
此方法可以使用两种可用的电机对象之一，如下所示：

发动机

命令

claw_motor

claw_motor.is_done() - The claw motor

lift_motor

lift_motor.is_done() - The lift motor

参数

描述

此方法没有参数。

 
def main():
    # Flash the Touch LED while the lift is moving.
    lift_motor.spin_for(REVERSE, 600, DEGREES, wait=False)
    wait(0.1, SECONDS)
    while not lift_motor.is_done():
        touchled.set_color(RED)
        wait(0.5, SECONDS)
        touchled.set_color(NONE)
        wait(0.5, SECONDS)

# VR threads — Do not delete
vr_thread(main)

正在旋转#

is_spinning returns a Boolean indicating whether the specified motor is spinning.

  • True - The specified motor is spinning.

  • False - The specified motor is not spinning.

用法：
此方法可以使用两种可用的电机对象之一，如下所示：

发动机

命令

claw_motor

claw_motor.is_spinning() - The claw motor

lift_motor

lift_motor.is_spinning() - The lift motor

参数

描述

此方法没有参数。

 
def main():
    # Flash the Touch LED while the lift is spinning.
    lift_motor.spin_for(REVERSE, 600, DEGREES, wait=False)
    wait(0.1, SECONDS)
    while lift_motor.is_spinning():
        touchled.set_color(RED)
        wait(0.5, SECONDS)
        touchled.set_color(NONE)
        wait(0.5, SECONDS)

# VR threads — Do not delete
vr_thread(main)

位置#

position returns the total distance the specified motor has rotated.

用法：
此方法可以使用两种可用的电机对象之一，如下所示：

发动机

命令

claw_motor

claw_motor.position(units) - The claw motor

lift_motor

lift_motor.position(units) - The lift motor

参数

描述

units

The units that represent the motor’s position:

  • DEGREES
  • TURNS

 
def main():
    # Raise the lift until it reaches roughly 600 degrees.
    lift_motor.spin(REVERSE)
    while not lift_motor.position(DEGREES) <= -600:
        wait(2, MSEC)
    lift_motor.stop()
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

速度#

velocity returns the current rotational speed of the motor.

用法：
此方法可以使用两种可用的电机对象之一，如下所示：

发动机

命令

claw_motor

claw_motor.velocity(units) - The claw motor

lift_motor

lift_motor.velocity(units) - The lift motor

参数

描述

units

The unit that represents the motor’s velocity:

  • PERCENT

 
def main():
    # Print the lift velocity while it is moving.
    lift_motor.set_velocity(100, PERCENT)
    lift_motor.spin_for(REVERSE, 600, DEGREES, wait=False)
    wait(0.5, SECONDS)
    brain.screen.print(lift_motor.velocity(PERCENT))

# VR threads — Do not delete
vr_thread(main)

人工智能视觉#

获取器#

拍摄快照#

take_snapshot filters the data from the IQ AI Vision Sensor frame to return a tuple.

该元组按宽度从大到小排序存储对象，索引从 0 开始。每个对象的属性 (#properties) 可以通过其索引访问。如果没有检测到匹配的对象，则返回空元组。

Usage:
ai_vision.take_snapshot(signature)

参数

描述

signature

Which signature to get data of. The only available signature is:

  • AiVision.ALL_AIOBJS - Detects Beams and Blue, Red, and Orange Pins.

 
def main():
    # Place the Red Pin on the top-left Blue Pin.
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    drivetrain.turn_for(LEFT, 38, DEGREES)

    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
    while not ai_objects[0].width > 48:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        drivetrain.drive(FORWARD)

    drivetrain.drive_for(FORWARD, 160, MM)
    claw_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

特性#

There are seven properties that are included with each object stored in a tuple after take_snapshot is used.

Some property values are based on the detected object’s position in the IQ AI Vision Sensor’s view at the time that take_snapshot was used. The IQ AI Vision Sensor has a resolution of 320 by 240 pixels.

。宽度#

.width returns the width of the detected object in pixels, which is an integer between 1 and 320.

def main():
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
    if len(ai_objects) > 0:
        brain.screen.print(ai_objects[0].width)

# VR threads — Do not delete
vr_thread(main)

。高度#

.height returns the height of the detected object in pixels, which is an integer between 1 and 240.

def main():
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
    if len(ai_objects) > 0:
        brain.screen.print(ai_objects[0].height)

# VR threads — Do not delete
vr_thread(main)

.centerX#

.centerX returns the x-coordinate of the detected object’s center in pixels, which is an integer between 0 and 320.

def main():
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
    if len(ai_objects) > 0:
        brain.screen.print(ai_objects[0].centerX)

# VR threads — Do not delete
vr_thread(main)

.centerY#

.centerY returns the y-coordinate of the detected object’s center in pixels, which is an integer between 0 and 240.

def main():
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
    if len(ai_objects) > 0:
        brain.screen.print(ai_objects[0].centerY)

# VR threads — Do not delete
vr_thread(main)

.originX#

.originX returns the x-coordinate of the top-left corner of the detected object’s bounding box in pixels, which is an integer between 0 and 320.

def main():
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
    if len(ai_objects) > 0:
        brain.screen.print(ai_objects[0].originX)

# VR threads — Do not delete
vr_thread(main)

.originY#

.originY returns the y-coordinate of the top-left corner of the detected object’s bounding box in pixels, which is an integer between 0 and 240.

def main():
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
    if len(ai_objects) > 0:
        brain.screen.print(ai_objects[0].originY)

# VR threads — Do not delete
vr_thread(main)

。ID#

.id returns the ID of the detected AI Classification as an integer.

人工智能分类

ID

签名

光束

0

GameElements.BEAM

蓝色别针

1

GameElements.BLUE_PIN

红针

2

GameElements.RED_PIN

橙色别针

3

GameElements.ORANGE_PIN

 
def main():
    # Find the nearest Blue Pin in the current snapshot.
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    object_count = 1
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)

    if len(ai_objects) > 0:
        for repeat_count in range(len(ai_objects)):
            if ai_objects[repeat_count].id == GameElements.BLUE_PIN:
                brain.screen.print(str("Closest Blue Pin is ") + str(object_count))
                break
            object_count = object_count + 1

# VR threads — Do not delete
vr_thread(main)

传感#

触摸 LED#

设置颜色#

set_color sets the color of the Touch LED.

Usage:
touchled.set_color(color)

参数

描述

color

The color to set the Touch LED to:

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

 
def main():
    # Light the Touch LED while placing a Pin.
    touchled.set_color(RED)
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)
    touchled.set_color(NONE)

# VR threads — Do not delete
vr_thread(main)

光学的#

靠近对象#

is_near_object returns a Boolean indicating whether or not the Optical Sensor detects an object close to the sensor.

  • True - The object is close to the Optical Sensor.

  • False - The object is not close to the Optical Sensor.

Usage:
optical.is_near_object()

参数

描述

此方法没有参数。

 
def main():
    # Wait until the claw no longer detects an object, then lower the lift.
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)
    while optical.is_near_object():
        wait(2, MSEC)
    lift_motor.spin_to_position(0, DEGREES)

# VR threads — Do not delete
vr_thread(main)

颜色#

color returns the color detected by the Optical Sensor:

返回颜色：

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

Usage:
optical.color()

参数

描述

此方法没有参数。

 
def main():
    # Wait until the Optical Sensor detects red, then lower the lift.
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)
    while not optical.color() == RED:
        wait(5, MSEC)
    lift_motor.spin_to_position(0, DEGREES)

# VR threads — Do not delete
vr_thread(main)

亮度#

brightness returns the brightness value detected by the Optical Sensor as a percent from 0% to 100%.

Usage:
optical.brightness()

参数

描述

此方法没有参数。

 
def main():
    # Lower the lift once the claw sees a darker object.
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)
    while not 30 > optical.brightness():
        wait(5, MSEC)
    lift_motor.spin_to_position(0, DEGREES)

# VR threads — Do not delete
vr_thread(main)

色调#

hue returns the hue detected by the Optical Sensor.

色调值范围从 0 到 359 度，对应于下图所示色轮上的位置。

一个圆形色轮，显示完整的色调光谱，边缘标有度数，从顶部的 0 度到 360 度，以 30 度为增量递增。

Usage:
optical.hue()

参数

描述

此方法没有参数。

 
def main():
    # Lower the lift once the Optical Sensor reports a hue value.
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)
    while not optical.hue() > 0:
        wait(5, MSEC)
    lift_motor.spin_to_position(0, DEGREES)

# VR threads — Do not delete
vr_thread(main)

检测到目标#

object_detected registers a callback function for when the Optical Sensor detects an object.

Usage:
optical.object_detected(callback, arg)

参数

描述

callback

当检测到物体时将调用的函数。

arg

可选。用于向回调函数传递参数的元组。

 
def pin_in_claw():
    touchled.set_color(RED)

def main():
    # Change the Touch LED color when the claw detects an object.
    optical.object_detected(pin_in_claw)
    touchled.set_color(GREEN)
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

丢失对象#

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

Usage:
optical.object_lost(callback, arg)

参数

描述

callback

当对象丢失时将调用的函数。

arg

可选。用于向回调函数传递参数的元组。

 
def lower_lift():
    # Lower the lift when the claw no longer holds an object.
    lift_motor.spin_to_position(0, DEGREES)

def main():
    optical.object_lost(lower_lift)
    lift_motor.spin_for(REVERSE, 600, DEGREES)
    drivetrain.drive_for(FORWARD, 140, MM)
    claw_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)
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