机器人专用 Python#

介绍#

VIQRC 24-25 快速继电器游乐场具有该游乐场独有的功能，包括两种电机选项和进气光学传感器。

所有标准的 VEXcode VR 方法都可以在 VIQRC 24-25 快速接力 游乐场中使用。

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 or motor group indefinitely.

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

    • spin_to_position - Spins a motor or motor group to a set position.

    • stop - Stops a specific motor or motor group from spinning.

  • 变异因子

    • set_position - Sets the encoder value of a motor or motor group.

    • set_velocity - Sets the speed of a motor or motor group 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.

感知——利用机器人的各种传感器。

  • 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 or motor group 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

intake_motor

intake_motor.spin(direction) - The intake motor

catapult_group

catapult_group.spin(direction) - The catapult group

参数

描述

direction

The direction for the motor to spin:

  • FORWARD - Spins the intake in the intake direction or lowers the catapult.
  • REVERSE - Spins the intake in the outtake direction or releases the catapult.

 
def main():
    # Spin the Intake Motor to bring a Ball onto the Catapult
    intake_motor.spin(FORWARD)
    wait(2, SECONDS)
    intake_motor.stop()

# VR threads — Do not delete
vr_thread(main)

spin_for#

spin_for spins a motor or motor group 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

intake_motor

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

catapult_group

catapult_group.spin_for(direction, distance, units, wait=True) - The catapult group

参数

描述

direction

The direction for the motor to spin:

  • FORWARD - Spins the intake in the intake direction or lowers the catapult.
  • REVERSE - Spins the intake in the outtake direction or releases the catapult.

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():
    # Release the preloaded Ball
    catapult_group.spin_for(REVERSE, 5, DEGREES)
    # Lower the Catapult to prepare to load another Ball
    catapult_group.spin_for(FORWARD, 1350, DEGREES)

# VR threads — Do not delete
vr_thread(main)

自旋至位置#

spin_to_position spins a motor or motor group 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

intake_motor

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

catapult_group

catapult_group.spin_to_position(angle, units, wait=True) - The catapult group

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():
    # Release the preloaded Ball
    catapult_group.spin_to_position(-90, DEGREES)
    # Lower the Catapult to prepare to load another Ball
    catapult_group.spin_to_position(1260, DEGREES)

# VR threads — Do not delete
vr_thread(main)

停止电机#

stop stops a motor or motor group 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() - The intake motor

catapult_group

catapult_group.stop() - The catapult group

参数

描述

此方法没有参数。

 
def main():
    # Spin the Intake Motor to bring a Ball onto the Catapult
    intake_motor.spin(FORWARD)
    wait(2, SECONDS)
    intake_motor.stop()

# VR threads — Do not delete
vr_thread(main)

变异体#

设置位置#

set_position sets a motor’s or motor group’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

intake_motor

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

catapult_group

catapult_group.set_position(position, units) - The catapult group

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():
    # Lower the Catapult to prepare to load another Ball
    catapult_group.spin_to_position(1260, DEGREES)
    # Set the new Catapult position to be 0 degrees
    catapult_group.set_position(0, DEGREES)

# VR threads — Do not delete
vr_thread(main)

设置速度#

set_velocity sets the speed of a motor or motor group.

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) - The intake motor

catapult_group

catapult_group.set_velocity(velocity, units) - The catapult group

参数

描述

velocity

电机旋转的速度，范围从 -100 到 100。

units

The unit that represents the new velocity:

  • PERCENT

 
def main():
    # Start spinning the Intake Motor to prepare for picking up a Ball
    intake_motor.set_velocity(100, PERCENT)
    intake_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 or motor group’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

intake_motor

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

catapult_group

catapult_group.set_timeout(value, units) - The catapult group

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 Catapult waits to reach its target
    catapult_group.set_timeout(2, SECONDS)
    catapult_group.spin_for(FORWARD, 6, TURNS)

# VR threads — Do not delete
vr_thread(main)

获取器#

已完成#

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

  • True - The specified motor or motor group is not spinning.

  • False - The specified motor or motor group 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

intake_motor

intake_motor.is_done() - The intake motor

catapult_group

catapult_group.is_done() - The catapult group

参数

描述

此方法没有参数。

正在旋转#

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

  • True - The specified motor or motor group is spinning.

  • False - The specified motor or motor group 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

intake_motor

intake_motor.is_spinning() - The intake motor

catapult_group

catapult_group.is_spinning() - The catapult group

参数

描述

此方法没有参数。

位置#

position returns the total distance the specified motor or motor group 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

intake_motor

intake_motor.position(units) - The intake motor

catapult_group

catapult_group.position(units) - The catapult group

参数

描述

units

The units that represent the motor’s position:

  • DEGREES
  • TURNS

 
def main():
    # Lower the Catapult to prepare to load another Ball
    while not catapult_group.position(DEGREES) == 1260:
        catapult_group.spin(FORWARD)

# VR threads — Do not delete
vr_thread(main)

速度#

velocity returns the current rotational speed of the motor or motor group.

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) - The intake motor

catapult_group

catapult_group.velocity(units) - The catapult group

参数

描述

units

The unit that represents the motor’s velocity:

  • PERCENT

 
def main():
    # Print the current Catapult velocity
    brain.screen.print(catapult_group.velocity(PERCENT))

# VR threads — Do not delete
vr_thread(main)

传感#

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:
intake_optical.is_near_object()

参数

描述

此方法没有参数。

 
def main():
    # Launch a loaded Ball once the Intake Optical Sensor detects a Ball
    if intake_optical.is_near_object():
        catapult_group.spin_for(REVERSE, 5, 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
  • CYAN

Usage:
intake_optical.color()

参数

描述

此方法没有参数。

 
def main():
    # Launch a loaded Ball once yellow is detected in the Intake
    if intake_optical.color() == YELLOW:
        catapult_group.spin_for(REVERSE, 5, 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:
intake_optical.brightness()

参数

描述

此方法没有参数。

 
def main():
    # Launch a loaded Ball once the Intake Optical Sensor sees a Ball
    if intake_optical.brightness() > 0:
        catapult_group.spin_for(REVERSE, 5, 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:
intake_optical.hue()

参数

描述

此方法没有参数。

 
def main():
    # Launch a loaded Ball once the Intake Optical Sensor reports a hue value
    if intake_optical.hue() > 100:
        catapult_group.spin_for(REVERSE, 5, 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:
intake_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 launch_ball():
    catapult_group.spin_for(REVERSE, 5, DEGREES)

def main():
    # Launch the Ball when the Intake Optical Sensor detects an object
    intake_optical.object_detected(launch_ball)

# 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:
intake_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_catapult():
    catapult_group.spin_to_position(1260, DEGREES)

def main():
    # Lower the Catapult when the Intake Optical Sensor no longer detects an object
    intake_optical.object_lost(lower_catapult)

# VR threads — Do not delete
vr_thread(main)
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