机器人专用 Python

介绍

The VR Rover Robot includes a Drivetrain, Distance Sensor and actions unique to the Rover Rescue Playground.

All standard VEXcode VR methods are available for use in the Rover Rescue Playground. Below is a list of all available Playground-specific methods:

动力系统 - 移动和监控虚拟现实漫游车。

• 操作

  • drive - Moves the VR Rover forward or reverse forever.

  • drive_for - Moves the VR Rover forward or reverse for a specific distance.

  • turn - Turns the VR Rover left or right forever.

  • turn_for - Turns the VR Rover left or right for a specific number of degrees.

  • turn_to_heading - Turns the VR Rover to face a specific heading from -359 to 359 degrees.

  • drive_to - Drives the VR Rover straight toward the selected object.

  • turn_to - Turns the VR Rover to face the selected object.

  • go_to - Turns and drives the VR Rover to the selected object.

  • stop - Stops the VR Rover’s movement.

• 变异因子

  • set_heading – Changes the VR Rover’s current heading to a new heading.

  • set_timeout - Sets how much time the VR Rover will try to finish a movement.

  • set_drive_velocity – Tells the VR Rover how fast to drive.

  • set_turn_velocity – Tells the VR Rover how fast to turn.

• Getters

  • heading - Returns the VR Rover’s current heading from 0 to 359.99 degrees.

  • is_done - Returns whether the VR Rover is finished moving.

  • is_moving - Returns whether the VR Rover is moving.

感知 - 使用探测车的距离传感器探测附近物体。

• 距离

  • found_object - Returns whether the Distance Sensor detects an object.

  • get_distance - Returns the distance to the nearest detected object.

操作 - 与探测车的资源、敌人和内置人工智能系统进行互动。

• 操作

  • pickup - Picks up minerals.

  • drop - Drops minerals.

  • use - Uses minerals to restore energy.

  • absorb_radiation - Absorbs radiation from an enemy.

  • standby - Puts the VR Rover into standby mode until a battery threshold is reached.

• Getters

  • angle - Returns the direction to an object in degrees.

  • get_distance - Returns the distance to an object in millimeters or inches.

  • location - Returns the X or Y coordinate of an object in millimeters or inches.

  • battery - Returns the VR Rover’s battery level.

  • minerals_stored - Returns how many minerals the VR Rover is carrying.

  • storage_capacity - Returns the VR Rover’s carrying capacity.

  • level - Returns the VR Rover’s current level.

  • exp - Returns the VR Rover’s current experience points.

  • enemy_level - Returns the level of the closest detected enemy.

  • enemy_radiation - Returns the radiation of the closest detected enemy.

  • detects - Returns whether the VR Rover detects minerals or enemies in its detect radius.

  • sees - Returns whether the VR Rover sees an object in its vision range.

  • under_attack - Returns whether the VR Rover is currently under attack.

• 回调函数

  • on_under_attack - Runs a callback when the VR Rover is attacked.

  • on_level_up - Runs a callback when the VR Rover levels up.

本页示例使用 Playground 的默认起始位置。

传动系统

The drivetrain controls how the VR Rover drives and turns. The drivetrain can move forward or reverse, turn left or right, turn to headings, and drive toward minerals, enemies, or the base.

行动

驾驶

drive moves the VR Rover forward or reverse forever. The VR Rover will continue to move until it is given another action, like turning or stopping.

Usage:
drivetrain.drive(direction)

参数	描述
direction	The direction the VR Rover moves: FORWARD or REVERSE.

def main():
    drivetrain.drive(FORWARD)
    wait(2, SECONDS)
    drivetrain.stop()

# VR threads — Do not delete
vr_thread(main)

驱动

drive_for moves the VR Rover forward or reverse for a specific distance. The project will wait until the VR Rover is done moving before the next line of code runs.

Usage:
drivetrain.drive_for(direction, distance, units, wait=True)

参数	描述
direction	The direction the VR Rover moves: FORWARD or REVERSE.
distance	The distance the VR Rover drives. This can be an integer or decimal (float).
units	The distance unit: INCHES or MM (millimeters).
wait	Optional. wait=True (default) makes the project wait until the VR Rover is done moving before the next line of code runs. wait=False makes the next line of code run right away.

def main():
    drivetrain.drive_for(FORWARD, 200, MM)

# VR threads — Do not delete
vr_thread(main)

转动

turn turns the VR Rover left or right forever. The VR Rover will continue to turn until it is given another action, like driving or stopping.

Usage:
drivetrain.turn(direction)

参数	描述
direction	The direction the VR Rover turns: LEFT or RIGHT.

def main():
    drivetrain.turn(RIGHT)
    wait(2, SECONDS)
    drivetrain.stop()

# VR threads — Do not delete
vr_thread(main)

转弯

turn_for turns the VR Rover left or right for a specific number of degrees. The turn is relative to the current position of the VR Rover. The project will wait until the VR Rover is done turning before the next line of code runs.

Usage:
drivetrain.turn_for(direction, angle, units, wait=True)

参数	描述
direction	The direction the VR Rover turns: LEFT or RIGHT.
angle	The number of degrees the VR Rover turns. This can be an integer or decimal (float).
units	The rotation unit: DEGREES.
wait	Optional. wait=True (default) makes the project wait until the VR Rover is done turning before the next line of code runs. wait=False makes the next line of code run right away.

def main():
    drivetrain.turn_for(RIGHT, 90, DEGREES)

# VR threads — Do not delete
vr_thread(main)

转向航向

A heading is the direction the VR Rover is facing, measured in degrees. turn_to_heading turns the VR Rover to face a specific heading from -359 to 359 degrees. The VR Rover will turn the shortest direction to reach the target heading.

The VR Rover’s starting heading is 0 degrees.

The project will wait until the VR Rover is done turning before the next line of code runs.

Usage:
drivetrain.turn_to_heading(heading, units, wait=True)

参数	描述
heading	The direction the VR Rover should face, in degrees. This can be an integer or decimal (float) from -359 to 359.
units	The heading unit: DEGREES.
wait	Optional. wait=True (default) makes the project wait until the VR Rover is done turning before the next line of code runs. wait=False makes the next line of code run right away.

def main():
    drivetrain.turn_to_heading(90, DEGREES)

# VR threads — Do not delete
vr_thread(main)

驱动到

drive_to drives the VR Rover straight toward the selected object.

Usage:
drivetrain.drive_to(object, wait=True)

参数	描述
object	Which object the VR Rover will drive to: BASE ENEMY MINERALS
wait	Optional. wait=True (default) makes the project wait until the movement is done before the next line of code runs. wait=False makes the next line of code run right away.

If a mineral or enemy is not detected in the VR Rover’s visual range when drive_to is called, the VR Rover will not drive. The base can always be targeted.

If the VR Rover detects multiple minerals or multiple enemies, it will drive toward the closer option.

def main():
    drivetrain.drive_to(MINERALS)

# VR threads — Do not delete
vr_thread(main)

转向

turn_to turns the VR Rover to face the selected object.

Usage:
drivetrain.turn_to(object, wait=True)

参数	描述
object	Which object the VR Rover will turn toward: BASE ENEMY MINERALS
wait	Optional. wait=True (default) — Wait for the turn to finish. wait=False — Start the turn and continue immediately.

If a mineral or enemy is not detected in the VR Rover’s visual range when turn_to is called, the VR Rover will not turn. The base can always be targeted.

If the VR Rover detects multiple minerals or multiple enemies, it will turn toward the closer option.

def main():
    drivetrain.turn_to(MINERALS)

# VR threads — Do not delete
vr_thread(main)

跳转到

go_to turns and drives the VR Rover to the selected object.

Usage:
drivetrain.go_to(object, wait=True)

参数	描述
object	Which object the VR Rover will turn and drive to: BASE ENEMY MINERALS
wait	Optional. wait=True (default) makes the project wait until the movement is done before the next line of code runs. wait=False makes the next line of code run right away.

If a mineral or enemy is not detected in the VR Rover’s visual range when go_to is called, the VR Rover will not drive. The base can always be targeted.

If the VR Rover detects multiple minerals or multiple enemies, it will move to the closer option.

def main():
    drivetrain.go_to(MINERALS)

# VR threads — Do not delete
vr_thread(main)

停止

stop stops the VR Rover’s movement.

Usage:
drivetrain.stop()

参数	描述
	此方法没有参数。

def main():
    drivetrain.drive(FORWARD)
    wait(2, SECONDS)
    drivetrain.stop()

# VR threads — Do not delete
vr_thread(main)

变异体

设置标题

A heading is the direction the VR Rover is facing, measured in degrees. set_heading changes the VR Rover’s current heading to a new heading value.

For example, if the VR Rover has turned to face right, setting the heading to 0 degrees makes that right-facing position the new 0 degrees. Then the VR Rover can turn to other positions based on that new heading.

Usage:
drivetrain.set_heading(heading, units)

参数	描述
heading	The heading value, in degrees, to set for the VR Rover. This can be an integer or decimal (float).
units	The heading unit: DEGREES.

def main():
    drivetrain.set_heading(0, DEGREES)

# VR threads — Do not delete
vr_thread(main)

设置超时

set_timeout sets how much time the VR Rover will try to finish a movement. If the VR Rover cannot finish in that time, it will stop trying and move on to the next line of code. This keeps the VR Rover from getting stuck on a movement.

Usage:
drivetrain.set_timeout(value, units)

参数	描述
value	The amount of time the VR Rover can try to finish a movement. This can be a positive integer or decimal (float).
units	The time unit: SECONDS or MSEC (milliseconds).

def main():
    drivetrain.set_timeout(1, SECONDS)

# VR threads — Do not delete
vr_thread(main)

设置驱动速度

set_drive_velocity tells the VR Rover how fast to drive. A higher percentage makes the VR Rover drive faster and a lower percentage makes the VR Rover drive slower.

Every project begins with the VR Rover driving at 50% velocity by default.

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

Usage:
drivetrain.set_drive_velocity(velocity, units)

参数	描述
velocity	The velocity to drive with from 0% to 100%. This can be an integer or decimal (float).
units	The velocity unit: PERCENT.

def main():
    drivetrain.set_drive_velocity(50, PERCENT)

# VR threads — Do not delete
vr_thread(main)

设置转弯速度

set_turn_velocity tells the VR Rover how fast to turn. A higher percentage makes the VR Rover turn faster and a lower percentage makes the VR Rover turn slower.

Every project begins with the VR Rover turning at 50% velocity by default.

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

Usage:
drivetrain.set_turn_velocity(velocity, units)

参数	描述
velocity	The velocity to turn with from 0% to 100%. This can be an integer or decimal (float).
units	The velocity unit: PERCENT.

def main():
    drivetrain.set_turn_velocity(50, PERCENT)

# VR threads — Do not delete
vr_thread(main)

获取器

标题

A heading is the direction the VR Rover is facing, measured in degrees. heading returns the VR Rover’s current heading from 0 to 359.99 degrees.

The VR Rover’s starting heading is 0 degrees.

Usage:
drivetrain.heading(units)

参数	描述
units	The heading unit: DEGREES.

def main():
    brain.screen.print(drivetrain.heading(DEGREES))

# VR threads — Do not delete
vr_thread(main)

已完成

is_done returns whether the VR Rover is finished moving, as a Boolean value. This can be used to control the timing of other behaviors based on the VR Rover’s movement.

• True — The VR Rover is finished moving.

• False — The VR Rover is still moving.

This method works together with Drivetrain methods that have the wait parameter, such as drive_for, turn_for, turn_to_heading, drive_to, turn_to, and go_to.

Usage:
drivetrain.is_done()

参数	描述
	此方法没有参数。

def main():
    drivetrain.drive_for(FORWARD, 200, MM, wait=False)
    wait(0.1, SECONDS)
    if drivetrain.is_done():
        brain.screen.print("Drive complete")

# VR threads — Do not delete
vr_thread(main)

正在移动

is_moving returns whether the VR Rover is moving, as a Boolean value. This can be used to control the timing of other behaviors based on the VR Rover’s movement.

• True — The VR Rover is moving.

• False — The VR Rover is not moving.

Usage:
drivetrain.is_moving()

参数	描述
	此方法没有参数。

def main():
    drivetrain.drive_for(FORWARD, 200, MM, wait=False)
    wait(0.1, SECONDS)
    if drivetrain.is_moving():
        brain.screen.print("Still moving")

# VR threads — Do not delete
vr_thread(main)

传感

距离

找到的对象

found_object returns whether the Distance Sensor detects an object.

Usage:
distance.found_object()

参数	描述
	此方法没有参数。

def main():
    if distance.found_object():
        brain.screen.print("Object detected")

# VR threads — Do not delete
vr_thread(main)

获取距离

get_distance returns the distance to the nearest detected object from the Distance Sensor.

Usage:
distance.get_distance(units)

参数	描述
units	The distance unit: INCHES or MM

def main():
    brain.screen.print(distance.get_distance(MM))

# VR threads — Do not delete
vr_thread(main)

行动

行动

捡起

pickup picks up minerals.

Usage:
rover.pickup(object)

参数	描述
object	The object the VR Rover can pick up: MINERALS

def main():
    rover.pickup(MINERALS)

# VR threads — Do not delete
vr_thread(main)

降低

drop drops carried minerals.

Usage:
rover.drop(object)

参数	描述
object	The object the VR Rover can drop: MINERALS

def main():
    rover.drop(MINERALS)

# VR threads — Do not delete
vr_thread(main)

使用

use uses minerals to restore energy. Minerals must be on the ground to be used.

Usage:
rover.use(object)

参数	描述
object	The object the VR Rover can use: MINERALS

def main():
    rover.use(MINERALS)

# VR threads — Do not delete
vr_thread(main)

吸收辐射

absorb_radiation absorbs radiation from an enemy.

Usage:
rover.absorb_radiation(object)

参数	描述
object	The object the VR Rover can absorb radiation from: ENEMY

def main():
    rover.absorb_radiation(ENEMY)

# VR threads — Do not delete
vr_thread(main)

支持

standby puts the VR Rover into standby mode until the specified battery threshold is reached.

Usage:
rover.standby(percent)

参数	描述
percent	The battery threshold that causes the VR Rover to exit standby mode, from 0 to 100.

如果选定的阈值等于或高于当前电池电量，VR Rover 将不会进入待机模式。

def main():
    rover.standby(50)

# VR threads — Do not delete
vr_thread(main)

获取器

角度

angle returns the direction in degrees to the selected object.

Usage:
rover.angle(object)

参数	描述
object	The object to report the direction of: BASE ENEMY MINERALS

对于矿物和敌方目标，目标必须位于虚拟现实探测车的视野范围内，且距离在 1000 毫米以内。基地位置始终可以报告。

def main():
    brain.screen.print(rover.angle(MINERALS))

# VR threads — Do not delete
vr_thread(main)

获取距离

get_distance returns the distance from the VR Rover to the selected object.

Usage:
rover.get_distance(object, units=MM)

参数	描述
object	The object to report distance to: BASE ENEMY HAZARD MINERALS OBSTACLE
units	Optional. The unit used to report the distance: INCHES or MM

对于矿物和敌方目标，目标必须位于虚拟现实探测车的视野范围内，且距离在 1000 毫米以内。基地位置始终可以报告。

For obstacles and hazards, the method reports the visible object distance. If none is in view, it returns 1000 mm or 39.37 inches.

def main():
    brain.screen.print(rover.get_distance(MINERALS, MM))

# VR threads — Do not delete
vr_thread(main)

地点

location returns the X or Y coordinate location of the selected object.

Usage:
rover.location(object, axis, units)

参数	描述
object	The object to report the location of: BASE ENEMY HAZARD MINERALS OBSTACLE
axis	Which coordinate to return: X Y
units	The unit used to report the location: INCHES or MM

对于矿物和敌方目标，目标必须位于虚拟现实探测车的视野范围内，且距离在 1000 毫米以内。基地位置始终可以报告。

def main():
    brain.screen.print(rover.location(MINERALS, X, MM))

# VR threads — Do not delete
vr_thread(main)

电池

battery returns the current battery level of the VR Rover.

Usage:
rover.battery()

参数	描述
	此方法没有参数。

def main():
    brain.screen.print(rover.battery())

# VR threads — Do not delete
vr_thread(main)

储存的矿物

minerals_stored returns the current amount of minerals the VR Rover has in storage.

Usage:
rover.minerals_stored()

参数	描述
	此方法没有参数。

def main():
    brain.screen.print(rover.minerals_stored())

# VR threads — Do not delete
vr_thread(main)

存储容量

storage_capacity returns the carrying capacity of the VR Rover.

Usage:
rover.storage_capacity()

参数	描述
	此方法没有参数。

def main():
    brain.screen.print(rover.storage_capacity())

# VR threads — Do not delete
vr_thread(main)

等级

level returns the current level of the VR Rover.

Usage:
rover.level()

参数	描述
	此方法没有参数。

def main():
    brain.screen.print(rover.level())

# VR threads — Do not delete
vr_thread(main)

经验

exp returns the number of Experience Points the VR Rover has at the current level.

Usage:
rover.exp()

参数	描述
	此方法没有参数。

def main():
    brain.screen.print(rover.exp())

# VR threads — Do not delete
vr_thread(main)

敌方等级

enemy_level returns the level of the closest enemy detected by the VR Rover.

Usage:
rover.enemy_level()

参数	描述
	此方法没有参数。

When no enemy is detected within the rover’s detect radius, this method returns 0.

def main():
    brain.screen.print(rover.enemy_level())

# VR threads — Do not delete
vr_thread(main)

敌方辐射

enemy_radiation returns the radiation of the closest enemy detected by the VR Rover.

Usage:
rover.enemy_radiation()

参数	描述
	此方法没有参数。

When no enemy is detected within the rover’s detect radius, this method returns 0.

def main():
    brain.screen.print(rover.enemy_radiation())

# VR threads — Do not delete
vr_thread(main)

检测

detects returns whether the VR Rover detects minerals or enemies in its detect radius.

Usage:
rover.detects(object)

参数	描述
object	The object to detect: ENEMY MINERALS

VR Rover的探测半径为800毫米。

def main():
    if rover.detects(MINERALS):
        brain.screen.print("Minerals detected")

# VR threads — Do not delete
vr_thread(main)

看到

sees returns whether the VR Rover sees the selected object in its vision range.

Usage:
rover.sees(object)

参数	描述
object	The object to see: BASE ENEMY HAZARD MINERALS OBSTACLE

VR Rover 可以看到 1000 毫米范围内、40 度视野内的物体。

def main():
    if rover.sees(MINERALS):
        brain.screen.print("Minerals in view")

# VR threads — Do not delete
vr_thread(main)

遭受攻击

under_attack returns whether the VR Rover is currently under attack from an enemy.

Usage:
rover.under_attack()

参数	描述
	此方法没有参数。

def main():
    if rover.under_attack():
        brain.screen.print("The rover is under attack!")

# VR threads — Do not delete
vr_thread(main)

回调函数

遭受攻击

on_under_attack registers a callback function that runs when the VR Rover takes damage from an enemy.

Usage:
rover.on_under_attack(callback)

参数	描述
callback	VR Rover 遭受攻击时要运行的函数。

def under_attack():
    brain.screen.print("The rover is under attack!")

def main():
    rover.on_under_attack(under_attack)
    wait(0.15, SECONDS)

# VR threads — Do not delete
vr_thread(main)

升级

on_level_up registers a callback function that runs when the VR Rover moves from one level to the next.

Usage:
rover.on_level_up(callback)

参数	描述
callback	VR Rover升级时要运行的函数。

def level_up():
    brain.screen.print("The rover leveled up!")

def main():
    rover.on_level_up(level_up)
    wait(0.15, SECONDS)

# VR threads — Do not delete
vr_thread(main)