机器人专用 Python#

介绍#

The Hero Bot, Snapshot, includes two motor options and the Optical Sensor.

All standard VEXcode VR methods are available for use in the VIQRC 22-23 Slapshot Playground.

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

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 from -359 to 359 degrees.

    • turn_to_rotation — Turns the robot to a specific rotation.

    • stop — Stops the robot’s movement.

  • 变异因子

  • Getters

    • heading — Returns the robot’s current heading from 0 to 359.99 degrees.

    • rotation — Returns the robot’s current rotation.

    • is_done — Returns whether the robot is finished moving, as a Boolean value.

    • is_moving — Returns whether the robot is moving, as a Boolean value.

    • velocity — Returns how fast the robot is driving.

运动控制 - 控制机器人电机的移动和跟踪。

  • 操作

    • spin — Spins a motor forward or reverse forever.

    • spin_for — Spins a motor for a specific distance.

    • spin_to_position — Spins a motor to a specific position.

    • stop — Stops a motor from spinning.

  • 变异因子

    • set_position — Changes the motor’s current position to a new value.

    • set_velocity — Tells a motor how fast to spin.

    • set_timeout — Sets how much time a motor will try to finish a movement.

  • Getters

    • is_done — Returns whether the motor is finished moving, as a Boolean value.

    • is_spinning — Returns whether the motor is spinning, as a Boolean value.

    • position — Returns the motor’s current position.

    • velocity — Returns how fast the motor is spinning.

事件 - 当传感器状态改变时运行代码。

  • Bumper

    • pressed - Registers a callback function for when the Intake Bumper is pressed.

    • released - Registers a callback function for when the Intake Bumper is released.

  • 光学的

    • object_detected – Registers a function to be called when the Optical Sensor detects an object.

    • object_lost – Registers a function to be called when the Optical Sensor loses an object.

Sensing - Utilize the robot’s various sensors.

  • Bumper

    • pressing - Returns whether the Intake Bumper is currently pressed.

  • 光学的

    • is_near_object – Returns whether the Optical Sensor detects an object within range.

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

    • brightness – Returns the amount of light reflected from the object.

    • hue – Returns the hue detected by the Optical Sensor.

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#

drive moves the robot forward or reverse forever. The robot 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 robot moves: FORWARD or REVERSE.

 
def main():
    # Drive forward then stop
    drivetrain.drive(FORWARD)
    wait(2, SECONDS)
    drivetrain.stop()

# VR threads — Do not delete
vr_thread(main)

drive_for#

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

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

参数

描述

direction

The direction the robot moves: FORWARD or REVERSE.

distance

The distance the robot 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 robot is done moving before the next line of code runs. wait=False makes the next line of code run right away.

 
def main():
    # Drive forward and backward
    drivetrain.drive_for(FORWARD, 200, MM)
    drivetrain.drive_for(REVERSE, 200, MM)

# VR threads — Do not delete
vr_thread(main)

turn#

turn turns the robot left or right forever. The robot 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 robot turns: LEFT or RIGHT.

 
def main():
    # Turn right and left, then stop
    drivetrain.turn(RIGHT)
    wait(2, SECONDS)
    drivetrain.turn(LEFT)
    wait(2, SECONDS)
    drivetrain.stop()

# VR threads — Do not delete
vr_thread(main)

turn_for#

turn_for 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 line of code runs.

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

参数

描述

direction

The direction the robot turns: LEFT or RIGHT.

angle

The number of degrees the robot 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 robot is done turning before the next line of code runs. wait=False makes the next line of code run right away.

 
def main():
    # Turn the robot right and left
    drivetrain.turn_for(RIGHT, 90, DEGREES)
    wait(1, SECONDS)
    drivetrain.turn_for(LEFT, 90, DEGREES)

# VR threads — Do not delete
vr_thread(main)

turn_to_heading#

A heading is the direction the robot is facing, measured in degrees. turn_to_heading 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 robot’s starting heading is 0 degrees.

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

Usage:
drivetrain.turn_to_heading(angle, units, wait)

参数

描述

angle

The direction the robot should face, in degrees. This can be an integer or decimal (float) from -359 to 359.

units

The rotation unit: DEGREES.

wait

Optional. wait=True (default) makes the project wait until the robot is done turning before the next line of code runs. wait=False makes the next line of code run right away.

 
def main():
    # Turn to face the cardinal directions
    drivetrain.turn_to_heading(90, DEGREES)
    wait(1, SECONDS)
    drivetrain.turn_to_heading(180, DEGREES)
    wait(1, SECONDS)
    drivetrain.turn_to_heading(270, DEGREES)
    wait(1, SECONDS)
    drivetrain.turn_to_heading(0, DEGREES)

# VR threads — Do not delete
vr_thread(main)

turn_to_rotation#

turn_to_rotation 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_rotation method.

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 line of code runs.

Usage:
drivetrain.turn_to_rotation(angle, units, wait)

参数

描述

angle

The rotation value, in degrees, that the robot will turn to. This can be an integer or decimal (float).

units

The rotation unit: DEGREES.

wait

Optional. wait=True (default) makes the project wait until the robot is done turning before the next line of code runs. wait=False makes the next line of code run right away.

 
def main():
    # Turn left, then spin in a circle
    # clockwise and face right
    drivetrain.turn_to_rotation(-90, DEGREES)
    wait(1, SECONDS)
    drivetrain.turn_to_rotation(450, DEGREES)

# VR threads — Do not delete
vr_thread(main)

stop#

stop stops the robot’s movement.

Usage:
drivetrain.stop()

参数

描述

此方法没有参数。

 
def main():
    # Drive forward then stop
    drivetrain.drive(FORWARD)
    wait(2, SECONDS)
    drivetrain.stop()

# VR threads — Do not delete
vr_thread(main)

变异体#

set_heading#

A heading is the direction the robot is facing, measured in degrees. set_heading 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.

Usage:
drivetrain.set_heading(heading, units)

参数

描述

heading

The heading value, in degrees, to set for the robot. This can be an integer or decimal (float).

units

The heading unit: DEGREES.

 
def main():
    # Face the new 0 degrees
    drivetrain.set_heading(90, DEGREES)
    drivetrain.turn_to_heading(0, DEGREES)

# VR threads — Do not delete
vr_thread(main)

set_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. set_rotation 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.

Usage:
drivetrain.set_rotation(rotation, units)

参数

描述

rotation

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

units

The rotation unit: DEGREES.

 
def main():
    # Spin counterclockwise two times
    drivetrain.set_rotation(720, DEGREES)
    drivetrain.turn_to_rotation(0, DEGREES)

# VR threads — Do not delete
vr_thread(main)

设置超时#

set_timeout sets how much time 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 line of code. This keeps the robot from getting stuck on a movement.

Usage:
drivetrain.set_timeout(value, units)

参数

描述

value

The amount of time the robot 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():
    # Turn right after driving forward
    drivetrain.set_timeout(1, SECONDS)
    drivetrain.drive_for(FORWARD, 25, INCHES)
    drivetrain.turn_for(RIGHT, 90)

# VR threads — Do not delete
vr_thread(main)

set_drive_velocity#

set_drive_velocity 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.

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():
    # Drive forward at different velocities
    # Default velocity
    drivetrain.drive_for(FORWARD, 150, MM)
    wait(1, SECONDS)
    # Drive slower
    drivetrain.set_drive_velocity(20, PERCENT)
    drivetrain.drive_for(FORWARD, 150, MM)
    wait(1, SECONDS)
    # Drive faster
    drivetrain.set_drive_velocity(100, PERCENT)
    drivetrain.drive_for(FORWARD, 150, MM)

# VR threads — Do not delete
vr_thread(main)

set_turn_velocity#

set_turn_velocity 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.

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():
    # Turn at different velocities
    # Default velocity
    drivetrain.turn_for(RIGHT, 120, DEGREES)
    wait(1, SECONDS)
    # Turn slower
    drivetrain.set_turn_velocity(20, PERCENT)
    drivetrain.turn_for(RIGHT, 120, DEGREES)
    wait(1, SECONDS)
    # Turn faster
    drivetrain.set_turn_velocity(100, PERCENT)
    drivetrain.turn_for(RIGHT, 120, DEGREES)

# VR threads — Do not delete
vr_thread(main)

获取器#

heading#

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

The robot’s starting heading is 0 degrees.

Usage:
drivetrain.heading(units)

参数

描述

units

The heading unit: DEGREES.

 
def main():
    # Display the heading after turning
    drivetrain.turn_for(RIGHT, 450, DEGREES)
    brain.screen.print("Heading: ")
    brain.screen.print(drivetrain.heading(DEGREES))

# VR threads — Do not delete
vr_thread(main)

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 returns 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 return a rotation of 720 degrees.

Usage:
drivetrain.rotation(units)

参数

描述

units

The rotation unit: DEGREES.

 
def main():
    # Display the rotation after turning
    drivetrain.turn_for(RIGHT, 450, DEGREES)
    brain.screen.print("Rotation: ")
    brain.screen.print(drivetrain.rotation(DEGREES))

# VR threads — Do not delete
vr_thread(main)

已完成#

is_done returns whether the robot is finished moving, as a Boolean value. 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 method works together with the following Drivetrain methods that have the wait parameter: drive_for, turn_for, turn_to_heading, and turn_to_rotation.

Usage:
drivetrain.is_done()

参数

描述

此方法没有参数。

is_moving#

is_moving returns whether the robot is moving, as a Boolean value. 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.

Usage:
drivetrain.is_moving()

参数

描述

此方法没有参数。

速度#

velocity returns how fast the robot is driving, as a percentage from -100% to 100%.

Usage:
drivetrain.velocity(units)

参数

描述

units

The velocity unit: PERCENT.

Example

def main():
    # Display the velocity after driving
    drivetrain.drive_for(FORWARD, 150, MM)
    brain.screen.print("Velocity: ")
    brain.screen.print(drivetrain.velocity(PERCENT))

运动#

Snapshot uses the intake motor to collect Discs or spin them out to score or drop them. The arm motor raises and lowers the arm to release Discs from dispensers and reach field elements.

Each motor has its own direction behavior. The direction descriptions explain how each direction moves that motor on Snapshot.

行动#

旋转#

spin spins a motor forward or reverse forever. The motor will continue to spin until it is given another action, like spinning in a different direction or stopping.

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

intake_motor

intake_motor.spin(direction) — Intake Motor

arm_motor

arm_motor.spin(direction) — Arm Motor

参数

描述

direction

The direction the motor spins:

  • FORWARD — Spins the Intake Motor in the intake direction or raises the Arm Motor.
  • REVERSE — Spins the Intake Motor in the outtake direction or lowers the Arm Motor.

 
def main():
    # Spin the Intake Motor to collect a Disc
    intake_motor.spin(FORWARD)
    wait(1, SECONDS)
    intake_motor.stop()

# VR threads — Do not delete
vr_thread(main)

spin_for#

spin_for 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 line of code runs.

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

intake_motor

intake_motor.spin_for(direction, distance, units, wait=True) — Intake Motor

arm_motor

arm_motor.spin_for(direction, distance, units, wait=True) — Arm Motor

参数

描述

direction

The direction the motor spins:

  • FORWARD — Spins the Intake Motor in the intake direction or raises the Arm Motor.
  • REVERSE — Spins the Intake Motor in the outtake direction or lowers the Arm Motor.

distance

The distance the motor spins. DEGREES use integers. TURNS can use integers or decimals.

units

Optional. The distance unit: DEGREES (default) or TURNS.

wait

Optional.

  • wait=True (default) — Makes the project wait until the motor is done spinning before the next line of code runs.
  • wait=False — Makes the next line of code run right away.

 
def main():
    # Collect the preloaded Disc
    intake_motor.spin_for(FORWARD, 180, DEGREES)

# VR threads — Do not delete
vr_thread(main)

自旋至位置#

spin_to_position 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_position method.

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.

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

intake_motor

intake_motor.spin_to_position(angle, units, wait=True) — Intake Motor

arm_motor

arm_motor.spin_to_position(angle, units, wait=True) — Arm Motor

参数

描述

angle

The position value the motor will spin to. DEGREES use integers. TURNS can use integers or decimals.

units

Optional. The position unit: DEGREES (default) or TURNS.

wait

Optional.

  • wait=True (default) — Makes the project wait until the motor is done spinning before the next line of code runs.
  • wait=False — Makes the next line of code run right away.

 
def main():
    # Raise the Arm to reach over the barrier
    arm_motor.spin_to_position(600, DEGREES)

# 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

intake_motor

intake_motor.stop() — Intake Motor

arm_motor

arm_motor.stop() — Arm Motor

参数

描述

此方法没有参数。

 
def main():
    # Raise the Arm briefly, then stop it
    arm_motor.spin(FORWARD)
    wait(1, SECONDS)
    arm_motor.stop()

# VR threads — Do not delete
vr_thread(main)

变异体#

设置位置#

A motor’s position is how far it has spun, measured in DEGREES or TURNS. One turn is equal to 360 degrees. set_position 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.

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

intake_motor

intake_motor.set_position(position, units) — Intake Motor

arm_motor

arm_motor.set_position(position, units) — Arm Motor

参数

描述

position

The position value to set for the motor. DEGREES use integers. TURNS can use integers or decimals.

units

Optional. The position unit: DEGREES (default) or TURNS.

 
def main():
    # Set the Intake Motor position, then return to 0 degrees
    intake_motor.set_position(180, DEGREES)
    intake_motor.spin_to_position(0, DEGREES)

# VR threads — Do not delete
vr_thread(main)

设置速度#

set_velocity 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.

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

intake_motor

intake_motor.set_velocity(velocity, units) — Intake Motor

arm_motor

arm_motor.set_velocity(velocity, units) — Arm Motor

参数

描述

velocity

The velocity to spin with from -100% to 100%. This can be an integer or decimal (float).

units

The velocity unit: PERCENT.

 
def main():
    # Set the Intake Motor speed before collecting a Disc
    intake_motor.set_velocity(75, PERCENT)
    intake_motor.spin_for(FORWARD, 180, DEGREES)

# VR threads — Do not delete
vr_thread(main)

设置超时#

set_timeout 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 line of code. This keeps the motor from getting stuck on a movement.

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

intake_motor

intake_motor.set_timeout(value, units) — Intake Motor

arm_motor

arm_motor.set_timeout(value, units) — Arm Motor

参数

描述

value

The amount of time the motor 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():
    # Limit how long the Arm Motor waits to reach its target
    arm_motor.set_timeout(2, SECONDS)
    arm_motor.spin_for(FORWARD, 3, TURNS)

# VR threads — Do not delete
vr_thread(main)

获取器#

已完成#

is_done returns whether the motor is finished moving, as a Boolean value. 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 method works together with the following Motion methods that have the wait parameter: spin_for and spin_to_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

intake_motor

intake_motor.is_done() — Intake Motor

arm_motor

arm_motor.is_done() — Arm Motor

参数

描述

此方法没有参数。

正在旋转#

is_spinning returns whether the motor is spinning, as a Boolean value. 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 method works together with the following Motion methods that have the wait parameter: spin_for and spin_to_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

intake_motor

intake_motor.is_spinning() — Intake Motor

arm_motor

arm_motor.is_spinning() — Arm Motor

参数

描述

此方法没有参数。

位置#

A motor’s position is how far it has spun, measured in DEGREES or TURNS. One turn is equal to 360 degrees. position returns 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.

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

intake_motor

intake_motor.position(units) — Intake Motor

arm_motor

arm_motor.position(units) — Arm Motor

参数

描述

units

The unit to return the motor position in: DEGREES or TURNS.

 
def main():
    # Print the current Arm Motor position
    brain.screen.print(arm_motor.position(DEGREES))

# VR threads — Do not delete
vr_thread(main)

速度#

velocity returns how fast the motor is spinning.

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

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

intake_motor

intake_motor.velocity(units) — Intake Motor

arm_motor

arm_motor.velocity(units) — Arm Motor

参数

描述

units

The velocity unit to return: PERCENT.

 
def main():
    # Print the current Intake Motor velocity
    brain.screen.print(intake_motor.velocity(PERCENT))

# VR threads — Do not delete
vr_thread(main)

活动#

Bumper#

pressed#

pressed registers a callback function for when the Intake Bumper is pressed.

Usage:
intake_bumper.pressed(callback)

参数

描述

callback

A function that will be called when the Intake Bumper is pressed.

 
def stop_intake():
    intake_motor.stop()

def main():
    # Stop the Intake Motor when a Disc reaches the Intake Bumper
    intake_bumper.pressed(stop_intake)
    intake_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

released#

released registers a callback function for when the Intake Bumper is released.

Usage:
intake_bumper.released(callback)

参数

描述

callback

A function that will be called when the Intake Bumper is released.

 
def lower_arm():
    arm_motor.spin_to_position(0, DEGREES)

def main():
    # Lower the Arm when the Intake Bumper is released
    intake_bumper.released(lower_arm)

# VR threads — Do not delete
vr_thread(main)

光学的#

检测到目标#

object_detected registers a function to be called whenever the Optical Sensor detects a new object.

Usage:
front_optical.object_detected(callback, arg)

参数

描述

callback

A previously defined function that executes when the Optical Sensor detects a new object.

arg

Optional. A tuple containing arguments to pass to the callback function. See Using Functions with Parameters for more information.

 
def stop_intake():
    intake_motor.stop()

def main():
    # Stop the Intake Motor when the Optical Sensor detects a Disc
    front_optical.object_detected(stop_intake)
    intake_motor.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

丢失对象#

object_lost registers a function to be called whenever the Optical Sensor loses a detected object.

Usage:
front_optical.object_lost(callback, arg)

参数

描述

callback

A previously defined function that executes when the Optical Sensor loses a detected object.

arg

Optional. A tuple containing arguments to pass to the callback function. See Using Functions with Parameters for more information.

 
def resume_intake():
    intake_motor.spin(FORWARD)

def main():
    # Restart the Intake Motor when the Optical Sensor no longer detects a Disc
    front_optical.object_lost(resume_intake)

# VR threads — Do not delete
vr_thread(main)

传感#

Bumper#

pressing#

pressing returns a Boolean indicating whether the Intake Bumper is currently pressed.

  • True - The Intake Bumper is pressed.

  • False - The Intake Bumper is not pressed.

Usage:
intake_bumper.pressing()

参数

描述

此方法没有参数。

 
def main():
    # Print whether the Intake Bumper is pressed
    brain.screen.print(intake_bumper.pressing())

# 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 within range.

  • True – The Optical Sensor detects an object.

  • False – The Optical Sensor does not detect an object.

Usage:
front_optical.is_near_object()

参数

描述

此方法没有参数。

 
def main():
    # Print whether the Front Optical Sensor detects a nearby Disc
    brain.screen.print(front_optical.is_near_object())

# VR threads — Do not delete
vr_thread(main)

颜色#

color returns an instance of a Color class, based on the detected hue value. These can be compared to predefined Color objects to create conditional statements.

Possible colors are:

  • NONE

  • RED - A hue value between 340° - 20°

  • GREEN - A hue value between 80° - 140°

  • BLUE - A hue value between 200° - 240°

  • YELLOW - A hue value between 40° - 60°

  • ORANGE - A hue value between 20° - 40°

  • PURPLE - A hue value between 240° - 280°

  • CYAN - A hue value between 140° - 200°

Note: The Optical Sensor is looking for hue ranges that match the specified color. For detecting specific hue ranges, see hue.

Usage:
front_optical.color()

参数

描述

此方法没有参数。

 
def main():
    # Print the color detected by the Front Optical Sensor
    brain.screen.print(front_optical.color())

# VR threads — Do not delete
vr_thread(main)

亮度#

brightness returns the amount of light reflected from the object as a decimal (float) representing a percent.

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

Usage:
front_optical.brightness()

参数

描述

此方法没有参数。

 
def main():
    # Print the Front Optical Sensor brightness
    brain.screen.print(front_optical.brightness())

# VR threads — Do not delete
vr_thread(main)

色调#

hue returns the hue value of the detected color as a decimal (float) from 0 to 359.

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

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:
front_optical.hue()

参数

描述

此方法没有参数。

 
def main():
    # Print the hue detected by the Front Optical Sensor
    brain.screen.print(front_optical.hue())

# VR threads — Do not delete
vr_thread(main)
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