Robot-Specific Python

Introduction

The VIQRC 22-23 Slapshot Playground features methods exclusive to this Playground, including two motor options, the Intake Bumper, 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 Playground-specific methods:

Motion - Move and track the robot’s motors.

• Actions

  • 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.

• Mutators

  • 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.

Events - Run code when a sensor changes state.

• 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.

• Optical

  • 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.

Sensing - Utilize the robot’s various sensors.

• Bumper

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

• Optical

  • 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.

The examples on this page use the default Playground start position.

Motion

Actions

spin

spin spins a motor indefinitely.

Usage:
One of two available motor objects can be used with this method, as shown below:

motor	Command
intake_motor	intake_motor.spin(direction) - The intake motor
arm_motor	arm_motor.spin(direction) - The arm motor

Parameters	Description
direction	The direction for the motor to spin: FORWARD - Spins the intake in the intake direction or raises the arm. REVERSE - Spins the intake in the outtake direction or lowers the arm.

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 given amount of degrees or turns.

Usage:
One of two available motor objects can be used with this method, as shown below:

motor	Command
intake_motor	intake_motor.spin_for(direction, distance, units, wait=True) - The intake motor
arm_motor	arm_motor.spin_for(direction, distance, units, wait=True) - The arm motor

Parameters	Description
direction	The direction for the motor to spin: FORWARD - Spins the intake in the intake direction or raises the arm. REVERSE - Spins the intake in the outtake direction or lowers the arm.
distance	The distance for the motor to spin as an integer.
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():
    # Collect the preloaded Disc
    intake_motor.spin_for(FORWARD, 180, DEGREES)

# VR threads — Do not delete
vr_thread(main)

spin_to_position

spin_to_position spins a motor to a given position.

Usage:
One of two available motor objects can be used with this method, as shown below:

motor	Command
intake_motor	intake_motor.spin_to_position(angle, units, wait=True) - The intake motor
arm_motor	arm_motor.spin_to_position(angle, units, wait=True) - The arm motor

Parameters	Description
angle	The specific angle or number of turns that the motor will spin to.
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 Arm to reach over the barrier
    arm_motor.spin_to_position(600, DEGREES)

# VR threads — Do not delete
vr_thread(main)

stop motor

stop stops a motor from spinning.

Usage:
One of two available motor objects can be used with this method, as shown below:

motor	Command
intake_motor	intake_motor.stop() - The intake motor
arm_motor	arm_motor.stop() - The arm motor

Parameters	Description
	This method has no parameters.

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)

Mutators

set_position

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

Usage:
One of two available motor objects can be used with this method, as shown below:

motor	Command
intake_motor	intake_motor.set_position(position, units) - The intake motor
arm_motor	arm_motor.set_position(position, units) - The arm motor

Parameters	Description
position	The specific integer for the motor’s encoder to be set to.
units	The unit that represents the angle to rotate to: DEGREES 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)

set_velocity

set_velocity sets the speed of a motor.

Usage:
One of two available motor objects can be used with this method, as shown below:

motor	Command
intake_motor	intake_motor.set_velocity(velocity, units) - The intake motor
arm_motor	arm_motor.set_velocity(velocity, units) - The arm motor

Parameters	Description
velocity	The speed that the motor will spin at, ranging from -100 to 100.
units	The unit that represents the new velocity: 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)

set_timeout

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.

Usage:
One of two available motor objects can be used with this method, as shown below:

motor	Command
intake_motor	intake_motor.set_timeout(value, units) - The intake motor
arm_motor	arm_motor.set_timeout(value, units) - The arm motor

Parameters	Description
value	The amount of time the motor will wait before stopping.
units	The unit to represent the timeout: SECONDS 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)

Getters

is_done

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.

Usage:
One of two available motor objects can be used with this method, as shown below:

motor	Command
intake_motor	intake_motor.is_done() - The intake motor
arm_motor	arm_motor.is_done() - The arm motor

Parameters	Description
	This method has no parameters.

is_spinning

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.

Usage:
One of two available motor objects can be used with this method, as shown below:

motor	Command
intake_motor	intake_motor.is_spinning() - The intake motor
arm_motor	arm_motor.is_spinning() - The arm motor

Parameters	Description
	This method has no parameters.

position

position returns the total distance the specified motor has rotated.

Usage:
One of two available motor objects can be used with this method, as shown below:

motor	Command
intake_motor	intake_motor.position(units) - The intake motor
arm_motor	arm_motor.position(units) - The arm motor

Parameters	Description
units	The units that represent the motor’s position: DEGREES TURNS

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

# VR threads — Do not delete
vr_thread(main)

velocity

velocity returns the current rotational speed of the motor.

Usage:
One of two available motor objects can be used with this method, as shown below:

motor	Command
intake_motor	intake_motor.velocity(units) - The intake motor
arm_motor	arm_motor.velocity(units) - The arm motor

Parameters	Description
units	The unit that represents the motor’s velocity: PERCENT

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

# VR threads — Do not delete
vr_thread(main)

Events

Bumper

pressed

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

Usage:
intake_bumper.pressed(callback)

Parameters	Description
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)

Parameters	Description
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)

Optical

object_detected

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

Usage:
front_optical.object_detected(callback, arg)

Parameters	Description
callback	A function that will be called when an object is detected.
arg	Optional. A tuple that is used to pass arguments to the callback function.

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)

object_lost

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

Usage:
front_optical.object_lost(callback, arg)

Parameters	Description
callback	A function that will be called when an object is lost.
arg	Optional. A tuple that is used to pass arguments to the callback function.

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)

Sensing

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()

Parameters	Description
	This method has no parameters.

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

# VR threads — Do not delete
vr_thread(main)

Optical

is_near_object

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:
front_optical.is_near_object()

Parameters	Description
	This method has no parameters.

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)

color

color returns the color detected by the Optical Sensor:

Color Returned:
NONE - No color detected. RED GREEN BLUE YELLOW ORANGE PURPLE CYAN

Usage:
front_optical.color()

Parameters	Description
	This method has no parameters.

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)

brightness

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

Usage:
front_optical.brightness()

Parameters	Description
	This method has no parameters.

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

# VR threads — Do not delete
vr_thread(main)

hue

hue returns the hue detected by the Optical Sensor.

Hue values range from 0 to 359 degrees, corresponding to positions on the color wheel shown below.

Usage:
front_optical.hue()

Parameters	Description
	This method has no parameters.

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)