Python específico para robots

Introducción

El robot héroe, Flop, incluye un motor de admisión, un motor de brazo y un sensor de visión con IA IQ.

Todos los comandos estándar de VEXcode VR Python están disponibles para su uso en el IQ 26-27 Level Up.

A continuación se muestra una lista de todos los comandos de Python disponibles específicos para Robot:

Movimiento: Mueve y rastrea los motores del robot.

• Comportamiento

  • spin – Hace girar un motor en una dirección indefinidamente.

  • spin_for – Hace girar un motor durante un número específico de grados o vueltas.

  • spin_to_position – Hace girar un motor a una posición específica.

  • stop – Detiene el giro de un motor.

• Ajustes

  • set_velocity – Establece la velocidad de giro de un motor.

  • set_timeout – Establece cuánto tiempo un motor intentará terminar un movimiento.

  • set_position – Cambia la posición actual del motor a un nuevo valor.

• Valores

  • is_done – Devuelve si el motor ha terminado de moverse.

  • is_spinning – Devuelve si el motor está girando.

  • posición – Devuelve la posición actual del motor.

  • velocidad – Devuelve la velocidad de giro del motor.

Visión por IA: Captura y analiza objetos utilizando el sensor de visión por IA IQ.

• Obtenidos

  • take_snapshot – Filtra el fotograma actual del sensor a una firma específica y devuelve una tupla de objetos detectados.

• Propiedades

  • .width – Devuelve el ancho del objeto detectado en píxeles.

  • .altura – Devuelve la altura del objeto detectado en píxeles.

  • .centerX – Devuelve la coordenada x del centro del objeto detectado.

  • .centerY – Devuelve la coordenada y del centro del objeto detectado.

  • .originX – Devuelve la coordenada x de la esquina superior izquierda del cuadro delimitador del objeto detectado.

  • .originY – Devuelve la coordenada y de la esquina superior izquierda del cuadro delimitador del objeto detectado.

  • .id – Devuelve el ID de la clasificación de IA detectada.

Los ejemplos de esta página utilizan la posición de inicio predeterminada del Playground.

Movimiento

Flop has two robot-specific motors: intake_motor and arm_motor. Both use standard motor commands.

Constantes de dirección:

• intake_motor: FORWARD = intake (collects); REVERSE = outtake (ejects)

• arm_motor: FORWARD = up (raises); REVERSE = down (lowers)

girar

spin spins a motor in the given direction forever. The motor will continue to spin until it is given another command.

Usage:
motor.spin(direction)

Parámetros	Descripción
direction	The direction to spin: FORWARD or REVERSE.

def main():
    # Score a Bean Bag in a Blue Goal
    drivetrain.turn_for(LEFT, 90, DEGREES)
    drivetrain.drive_for(FORWARD, 35, INCHES)
    drivetrain.turn_for(RIGHT, 90, DEGREES)
    arm_motor.spin_for(FORWARD, 1, TURNS)
    drivetrain.drive_for(FORWARD, 40, INCHES)
    intake_motor.spin(REVERSE)

# VR threads — Do not delete
vr_thread(main)

girar_para

spin_for spins a motor for a specific distance. The project waits until the motor is done before the next command runs unless wait=False is passed.

Usage:
motor.spin_for(direction, amount, unit)

Parámetros	Descripción
direction	The direction to spin: FORWARD or REVERSE.
amount	La distancia a girar. Puede ser un número entero o decimal.
unit	The unit of measurement: DEGREES or TURNS.

def main():
    # Score a Bean Bag in a Blue Goal
    drivetrain.turn_for(LEFT, 90, DEGREES)
    drivetrain.drive_for(FORWARD, 35, INCHES)
    drivetrain.turn_for(RIGHT, 90, DEGREES)
    arm_motor.spin_for(FORWARD, 1, TURNS)
    drivetrain.drive_for(FORWARD, 40, INCHES)
    intake_motor.spin(REVERSE)

# VR threads — Do not delete
vr_thread(main)

girar_a_posición

spin_to_position spins a motor to a specific position. The project waits until the motor is done before the next command runs unless wait=False is passed.

Usage:
motor.spin_to_position(position, unit)

Parámetros	Descripción
position	La posición a la que girar. Puede ser un número entero o decimal.
unit	The unit of measurement: DEGREES or TURNS.

def main():
    # Score a Bean Bag in a Blue Goal
    drivetrain.turn_for(LEFT, 90, DEGREES)
    drivetrain.drive_for(FORWARD, 35, INCHES)
    drivetrain.turn_for(RIGHT, 90, DEGREES)
    arm_motor.spin_to_position(1, TURNS)
    drivetrain.drive_for(FORWARD, 40, INCHES)
    intake_motor.spin(REVERSE)

# VR threads — Do not delete
vr_thread(main)

detener

stop stops a motor from spinning.

Usage:
motor.stop()

def main():
    # Score a Bean Bag in a Blue Goal
    drivetrain.turn_for(LEFT, 90, DEGREES)
    drivetrain.drive_for(FORWARD, 35, INCHES)
    drivetrain.turn_for(RIGHT, 90, DEGREES)
    arm_motor.spin_for(FORWARD, 1, TURNS)
    drivetrain.drive_for(FORWARD, 40, INCHES)
    intake_motor.spin(REVERSE)
    wait(1, SECONDS)
    intake_motor.stop()

# VR threads — Do not delete
vr_thread(main)

establecer_velocidad

set_velocity sets how fast a motor will spin as a percentage from 0 to 100.

Usage:
motor.set_velocity(velocity, unit)

Parámetros	Descripción
velocity	La velocidad del motor como porcentaje de 0 a 100.
unit	The unit of measurement: PERCENT.

def main():
    # Score a Bean Bag in a Blue Goal
    drivetrain.turn_for(LEFT, 90, DEGREES)
    drivetrain.drive_for(FORWARD, 35, INCHES)
    drivetrain.turn_for(RIGHT, 90, DEGREES)
    arm_motor.spin_for(FORWARD, 1, TURNS)
    drivetrain.drive_for(FORWARD, 40, INCHES)
    intake_motor.set_velocity(100, PERCENT)
    intake_motor.spin(REVERSE)

# VR threads — Do not delete
vr_thread(main)

establecer_tiempo_de_espera

set_timeout sets how many seconds a motor will try to finish a movement before stopping.

Usage:
motor.set_timeout(timeout, unit)

Parámetros	Descripción
timeout	El número de segundos que el motor intentará completar un movimiento.
unit	The unit of measurement: SECONDS.

def main():
    # Score a Bean Bag in a Blue Goal
    drivetrain.turn_for(LEFT, 90, DEGREES)
    drivetrain.drive_for(FORWARD, 35, INCHES)
    drivetrain.turn_for(RIGHT, 90, DEGREES)
    arm_motor.set_timeout(2, SECONDS)
    arm_motor.spin_for(FORWARD, 1, TURNS)
    drivetrain.drive_for(FORWARD, 40, INCHES)
    intake_motor.spin(REVERSE)

# VR threads — Do not delete
vr_thread(main)

posición_de_establecer

set_position changes the motor’s current position to a new value, resetting its encoder.

Usage:
motor.set_position(position, unit)

Parámetros	Descripción
position	El nuevo valor de posición.
unit	The unit of measurement: DEGREES or TURNS.

def main():
    # Score a Bean Bag in a Blue Goal
    drivetrain.turn_for(LEFT, 90, DEGREES)
    drivetrain.drive_for(FORWARD, 35, INCHES)
    drivetrain.turn_for(RIGHT, 90, DEGREES)
    arm_motor.set_position(0, DEGREES)
    arm_motor.spin_for(FORWARD, 1, TURNS)
    drivetrain.drive_for(FORWARD, 40, INCHES)
    intake_motor.spin(REVERSE)

# VR threads — Do not delete
vr_thread(main)

está_hecho

is_done returns a Boolean indicating whether the motor has finished its movement.

• True – The motor has finished moving.

• False – The motor is still moving.

Usage:
motor.is_done()

def main():
    # Score a Bean Bag in a Blue Goal
    drivetrain.turn_for(LEFT, 90, DEGREES)
    drivetrain.drive_for(FORWARD, 35, INCHES)
    drivetrain.turn_for(RIGHT, 90, DEGREES)
    arm_motor.spin_for(FORWARD, 1, TURNS, wait=False)
    while not arm_motor.is_done():
        wait(5, MSEC)
    drivetrain.drive_for(FORWARD, 40, INCHES)
    intake_motor.spin(REVERSE)

# VR threads — Do not delete
vr_thread(main)

está_girando

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

• True – The motor is spinning.

• False – The motor is not spinning.

Usage:
motor.is_spinning()

def main():
    # Score a Bean Bag in a Blue Goal
    drivetrain.turn_for(LEFT, 90, DEGREES)
    drivetrain.drive_for(FORWARD, 35, INCHES)
    drivetrain.turn_for(RIGHT, 90, DEGREES)
    arm_motor.spin_for(FORWARD, 1, TURNS)
    drivetrain.drive_for(FORWARD, 40, INCHES)
    intake_motor.spin(REVERSE)
    while intake_motor.is_spinning():
        wait(5, MSEC)
    intake_motor.stop()

# VR threads — Do not delete
vr_thread(main)

posición

position returns the motor’s current position.

Usage:
motor.position(unit)

Parámetros	Descripción
unit	The unit of measurement: DEGREES or TURNS.

def main():
    # Score a Bean Bag in a Blue Goal
    drivetrain.turn_for(LEFT, 90, DEGREES)
    drivetrain.drive_for(FORWARD, 35, INCHES)
    drivetrain.turn_for(RIGHT, 90, DEGREES)
    while arm_motor.position(DEGREES) < 360:
        arm_motor.spin(FORWARD)
        wait(2, MSEC)
    arm_motor.stop()
    drivetrain.drive_for(FORWARD, 40, INCHES)
    intake_motor.spin(REVERSE)

# VR threads — Do not delete
vr_thread(main)

velocidad

velocity returns how fast the motor is currently spinning as a percentage from -100 to 100.

Usage:
motor.velocity(unit)

Parámetros	Descripción
unit	The unit of measurement: PERCENT.

def main():
    # Score a Bean Bag in a Blue Goal
    drivetrain.turn_for(LEFT, 90, DEGREES)
    drivetrain.drive_for(FORWARD, 35, INCHES)
    drivetrain.turn_for(RIGHT, 90, DEGREES)
    arm_motor.spin_for(FORWARD, 1, TURNS)
    drivetrain.drive_for(FORWARD, 40, INCHES)
    intake_motor.spin(REVERSE)
    wait(0.2, SECONDS)
    brain.screen.print(intake_motor.velocity(PERCENT))

# VR threads — Do not delete
vr_thread(main)

Visión por IA

tomar_instantánea

take_snapshot filters data from the IQ AI Vision Sensor frame to a single signature — a saved description of something the sensor can recognize, such as a game element on the field — and returns a tuple.

La tupla almacena objetos ordenados de mayor a menor ancho, comenzando en el índice#propertiesSe puede acceder a las propiedades de cada objeto mediante su índice. Se devuelve una tupla vacía si no se detectan objetos coincidentes.

Usage:
ai_vision.take_snapshot(signature)

Parámetros	Descripción
signature	Filters the dataset to only include data of the given signature. Available signatures are: AiVision.ALL_AIOBJS - Detects all Bean Bags. AiVision.ALL_TAGS - Detects AprilTags, found on the sides of the Goals.

def main():
    # Drop the preloaded Bean Bag
    intake_motor.spin_for(REVERSE, 180, DEGREES)
    drivetrain.turn_for(LEFT, 90, DEGREES)

    # Turn to face a red Bean Bag
    drivetrain.set_turn_velocity(30, PERCENT)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        for ai_object in ai_objects:
            if ai_object.id == GameElements.RED_BEANBAG:
                if ai_object.centerX < 140:
                    drivetrain.turn(LEFT)
                elif ai_object.centerX > 180:
                    drivetrain.turn(RIGHT)
                else:
                    drivetrain.stop()
                    return
                break

# VR threads — Do not delete
vr_thread(main)

Propiedades

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

All property values except .id describe the detected object’s position and size in the IQ AI Vision Sensor’s view at the moment take_snapshot was used. These values are measured in pixels, based on the sensor’s 320 by 240 pixel resolution.

.ancho

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

def main():
    # Drop the preloaded Bean Bag
    intake_motor.spin_for(REVERSE, 180, DEGREES)
    drivetrain.turn_for(LEFT, 90, DEGREES)

    # Approach the Bean Bag, then pick it up
    drivetrain.set_drive_velocity(30, PERCENT)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        for ai_object in ai_objects:
            if ai_object.id == GameElements.RED_BEANBAG:
                if ai_object.width > 200:
                    drivetrain.stop()
                    intake_motor.spin(FORWARD)
                    return
                else:
                    drivetrain.drive(FORWARD)
                break

# VR threads — Do not delete
vr_thread(main)

.altura

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

def main():
    # Drop the preloaded Bean Bag
    intake_motor.spin_for(REVERSE, 180, DEGREES)
    drivetrain.turn_for(LEFT, 90, DEGREES)

    # Approach the Bean Bag, then pick it up
    drivetrain.set_drive_velocity(30, PERCENT)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        for ai_object in ai_objects:
            if ai_object.id == GameElements.RED_BEANBAG:
                if ai_object.height > 110:
                    drivetrain.stop()
                    intake_motor.spin(FORWARD)
                    return
                else:
                    drivetrain.drive(FORWARD)
                break

# 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():
    # Drop the preloaded Bean Bag
    intake_motor.spin_for(REVERSE, 180, DEGREES)
    drivetrain.turn_for(LEFT, 90, DEGREES)

    # Steer to keep the Bean Bag centered
    drivetrain.set_turn_velocity(30, PERCENT)
    drivetrain.set_drive_velocity(30, PERCENT)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        for ai_object in ai_objects:
            if ai_object.id == GameElements.RED_BEANBAG:
                if ai_object.centerX < 140:
                    drivetrain.turn_for(LEFT, 5, DEGREES)
                else:
                    drivetrain.drive_for(FORWARD, 150, MM)
                    intake_motor.spin(FORWARD)
                    return
                break

# VR threads — Do not delete
vr_thread(main)

.centroY

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

def main():
    # Drop the preloaded Bean Bag
    intake_motor.spin_for(REVERSE, 180, DEGREES)
    drivetrain.turn_for(LEFT, 90, DEGREES)

    # Print the y-position of the Bean Bag
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
    for ai_object in ai_objects:
        if ai_object.id == GameElements.RED_BEANBAG:
            brain.screen.print(ai_object.centerY)
            break

# 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():
    # Drop the preloaded Bean Bag
    intake_motor.spin_for(REVERSE, 180, DEGREES)
    drivetrain.turn_for(LEFT, 90, DEGREES)

    # Steer to keep the left edge centered
    drivetrain.set_turn_velocity(30, PERCENT)
    drivetrain.set_drive_velocity(30, PERCENT)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        for ai_object in ai_objects:
            if ai_object.id == GameElements.RED_BEANBAG:
                if ai_object.originX < 100:
                    drivetrain.turn_for(LEFT, 5, DEGREES)
                else:
                    drivetrain.drive_for(FORWARD, 150, MM)
                    intake_motor.spin(FORWARD)
                    return
                break

# VR threads — Do not delete
vr_thread(main)

.origenY

.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():
    # Drop the preloaded Bean Bag
    intake_motor.spin_for(REVERSE, 180, DEGREES)
    drivetrain.turn_for(LEFT, 90, DEGREES)

    # Print the y-position of the Bean Bag's top edge
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
    for ai_object in ai_objects:
        if ai_object.id == GameElements.RED_BEANBAG:
            brain.screen.print(ai_object.originY)
            break

# VR threads — Do not delete
vr_thread(main)

.identificación

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

Clasificación de IA	identificación
BlueBeanBag	0
Puf rojo	1
Bolsa de frijoles amarilla	2

def main():
    # Drop the preloaded Bean Bag
    intake_motor.spin_for(REVERSE, 180, DEGREES)
    drivetrain.turn_for(LEFT, 90, DEGREES)

    # Pick up the Bean Bag if it's red
    drivetrain.set_drive_velocity(30, PERCENT)
    ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
    for ai_object in ai_objects:
        if ai_object.id == GameElements.RED_BEANBAG:
            intake_motor.spin(FORWARD)
            drivetrain.drive_for(FORWARD, 150, MM)
            break

# VR threads — Do not delete
vr_thread(main)

---

def main():
    # Stop when you see the Red Goal
    drivetrain.set_turn_velocity(30, PERCENT)
    drivetrain.turn(RIGHT)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_TAGS)
        for ai_object in ai_objects:
            if ai_object.id == 1:
                drivetrain.stop()
                brain.screen.print("Found the Red Goal!")
                return

# VR threads — Do not delete
vr_thread(main)