机器人专用 Python#

介绍 #

Hero Bot Flex 包含爪电机、手臂电机、AI 视觉传感器、距离传感器和游戏定位系统 (GPS) 传感器。

所有标准的 VEXcode VR 方法都可以在 V5 26-27 覆盖 Playground 中使用。

以下是所有可用的机器人专用方法列表：

驱动系统——控制机器人的移动和转向。

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
- set_heading — Changes the robot’s current heading to a new heading.
- set_rotation — Changes the robot’s current rotation to a new rotation.
- set_timeout — Sets how much time the robot will try to finish a movement.
- set_drive_velocity — Tells the robot how fast to drive.
- set_turn_velocity — Tells the robot how fast to turn.
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——移动并跟踪机器人的电机。

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.

人工智能视觉——使用人工智能视觉传感器捕捉和分析物体。

Getters
- take_snapshot – Returns a tuple of detected objects for a specific signature.
特性
- .width – Width of the detected object in pixels.
- .height – Height of the detected object in pixels.
- .centerX – X position of the object’s center in pixels.
- .centerY – Y position of the object’s center in pixels.
- .originX – X position of the object’s top-left corner in pixels.
- .originY – Y position of the object’s top-left corner in pixels.
- .id – Classification ID of the detected object.

控制台 – 将信息打印到控制台并监控数值。

打印
- brain.screen.print — Displays text, numbers, or variable values in the Console.
- brain.screen.next_row — Moves the Console cursor to the start of the next row.
- brain.screen.clear_screen — Clears all rows from the Console.
监视器
- monitor_variable — Adds one or more predefined variables to the Monitor tab.
- monitor_sensor — Adds one or more sensor values to the Monitor tab.

感知——利用机器人的各种传感器。

距离
- found_object – Returns whether the Distance Sensor detects an object within range.
- object_distance – Returns the distance between the Distance Sensor and the nearest detected object.
全球定位系统
- x_position – Returns the current x-coordinate of the GPS Sensor on the field.
- y_position – Returns the current y-coordinate of the GPS Sensor on the field.
- heading – Returns the heading the robot is currently facing based on the GPS Sensor.

本页示例使用游乐场赛前检查清单中的起始位置 C。

传动系统 #

动力系统控制着VR机器人的行驶和转向。动力系统可以前进或后退、左转或右转、转向特定航向并跟踪其旋转。

行动 #

驾驶 #

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():
    # Raise the Arm, drive to the Goal, release the Pin
    arm_motor.spin_for(FORWARD, 300, DEGREES)
    drivetrain.drive(FORWARD)
    wait(0.5, SECONDS)
    drivetrain.stop()
    claw_motor.spin_for(REVERSE, 180, DEGREES)

# VR threads — Do not delete
vr_thread(main)

驱动 #

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`	Optional. The distance unit: `INCHES` (default) 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():
    # Raise the Arm, drive to the Goal, release the Pin
    arm_motor.spin_for(FORWARD, 300, DEGREES)
    drivetrain.drive_for(FORWARD, 10, INCHES)
    claw_motor.spin_for(REVERSE, 180, DEGREES)

# VR threads — Do not delete
vr_thread(main)

转动 #

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():
    # Score a Pin in a Neutral Goal
    drivetrain.turn(LEFT)
    wait(0.78, SECONDS)
    drivetrain.stop()
    arm_motor.spin_for(FORWARD, 800, DEGREES)
    drivetrain.drive_for(FORWARD, 25, INCHES)
    claw_motor.spin_for(REVERSE, 180, DEGREES)

# VR threads — Do not delete
vr_thread(main)

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`	Optional. The angle unit: `DEGREES` (default).
`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():
    # Score a Pin in a Neutral Goal
    drivetrain.turn_for(LEFT, 110, DEGREES)
    arm_motor.spin_for(FORWARD, 800, DEGREES)
    drivetrain.drive_for(FORWARD, 25, INCHES)
    claw_motor.spin_for(REVERSE, 180, DEGREES)

# VR threads — Do not delete
vr_thread(main)

转向航向 #

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.

起始航向为0度。

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

参数	描述
`heading`	机器人应面向的航向，范围从 -359 度到 359 度。
`units`	Optional. The angle unit: `DEGREES` (default).
`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():
    # Score a Pin in a Neutral Goal
    drivetrain.turn_to_heading(-110, DEGREES)
    arm_motor.spin_for(FORWARD, 800, DEGREES)
    drivetrain.drive_for(FORWARD, 25, INCHES)
    claw_motor.spin_for(REVERSE, 180, DEGREES)

# VR threads — Do not delete
vr_thread(main)

转向旋转 #

turn_to_rotation turns the robot to a specific rotation.

旋转角度是指机器人转动的幅度，以度为单位。项目开始时，旋转角度设置为 0 度。向右转动会增加旋转角度，向左转动会减少旋转角度。

例如，如果机器人从0度开始旋转720度，它将向右转两次。如果它接着旋转360度，它将向左转一次，因为360小于720。

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

参数	描述
`rotation`	The rotation value, in degrees, that the robot will turn to. This can be an `integer` or decimal (`float`).
`units`	Optional. The angle unit: `DEGREES` (default).
`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():
    # Score a Pin in a Neutral Goal
    drivetrain.turn_to_rotation(-110, DEGREES)
    arm_motor.spin_for(FORWARD, 800, DEGREES)
    drivetrain.drive_for(FORWARD, 25, INCHES)
    claw_motor.spin_for(REVERSE, 180, DEGREES)

# VR threads — Do not delete
vr_thread(main)

停止 #

stop stops the robot’s movement.

Usage:
drivetrain.stop()

参数	描述
	此方法没有参数。

def main():
    # Score a Pin in a Neutral Goal
    drivetrain.turn(LEFT)
    wait(0.78, SECONDS)
    drivetrain.stop()
    arm_motor.spin_for(FORWARD, 800, DEGREES)
    drivetrain.drive_for(FORWARD, 25, INCHES)
    claw_motor.spin_for(REVERSE, 180, DEGREES)

# VR threads — Do not delete
vr_thread(main)

变异体 #

设置标题 #

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.

例如，如果机器人转向右侧，将航向设置为 0 度，则该右侧位置将成为新的 0 度航向。然后，机器人可以根据新的航向转向其他位置。

Usage:
drivetrain.set_heading(heading, units)

参数	描述
`heading`	要设置的机器人航向值（以度为单位）。
`units`	Optional. The angle unit: `DEGREES` (default).

def main():
    # Make facing the Neutral Goal the new heading
    drivetrain.set_heading(110, DEGREES)
    drivetrain.turn_to_heading(0, DEGREES)

# VR threads — Do not delete
vr_thread(main)

设置旋转 #

Rotation is how much the robot has turned, measured in degrees. set_rotation changes the robot’s current rotation to a 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`	Optional. The angle unit: `DEGREES` (default).

def main():
    # Make facing the Neutral Goal the new rotation
    drivetrain.set_rotation(110, DEGREES)
    drivetrain.turn_to_rotation(0, DEGREES)

# VR threads — Do not delete
vr_thread(main)

设置超时 #

set_timeout sets how many seconds 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(time, units)

参数	描述
`time`	The number of seconds the robot can try to finish a movement. This can be a positive `integer` or decimal (`float`).
`units`	Optional. The time unit: `SECONDS` (default) or `MSEC`.

def main():
    # Turn to face the Neutral Goal
    drivetrain.set_timeout(0.8, SECONDS)
    drivetrain.turn_for(LEFT, 180, DEGREES)

# VR threads — Do not delete
vr_thread(main)

设置驱动速度 #

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.

每个项目开始时，机器人默认以 50% 的速度行驶。

**注意：**速度越高，机器人行驶速度越快，但精度可能越低；速度越低，机器人行驶速度越慢，但精度可能越高。

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`	Optional. The velocity unit: `PERCENT` (default).

def main():
    # Score a Pin in a Neutral Goal
    drivetrain.turn_for(LEFT, 110, DEGREES)
    arm_motor.spin_for(FORWARD, 800, DEGREES)
    drivetrain.set_drive_velocity(100, PERCENT)
    drivetrain.drive_for(FORWARD, 25, INCHES)
    claw_motor.spin_for(REVERSE, 180, DEGREES)

# VR threads — Do not delete
vr_thread(main)

设置转弯速度 #

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.

每个项目开始时，机器人默认以 50% 的速度旋转。

**注意：**速度越高，机器人转弯越快，但精度可能越低；速度越低，机器人转弯越慢，但精度可能越高。

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`	Optional. The velocity unit: `PERCENT` (default).

def main():
    # Turn to face the Neutral Goal faster
    drivetrain.set_turn_velocity(100, PERCENT)
    drivetrain.turn_for(LEFT, 110, DEGREES)

# VR threads — Do not delete
vr_thread(main)

获取器 #

标题 #

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.

机器人的初始航向为0度。

Usage:
drivetrain.heading(units)

参数	描述
`units`	Optional. The heading unit: `DEGREES` (default).

def main():
    # Turn to the Goal, then show heading
    drivetrain.turn_for(LEFT, 110, DEGREES)
    brain.screen.print("Heading: ")
    brain.screen.print(drivetrain.heading(DEGREES))

# VR threads — Do not delete
vr_thread(main)

旋转 #

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.

向右转会增加旋转角度，向左转会减少旋转角度。例如，向右转两圈将得到 720 度的旋转角度。

Usage:
drivetrain.rotation(units)

参数	描述
`units`	Optional. The rotation unit: `DEGREES` (default).

def main():
    # Spin to find a Pin, then show rotation
    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。

def main():
    # Score a Pin in a Neutral Goal
    drivetrain.turn_for(LEFT, 110, DEGREES)
    arm_motor.spin_for(FORWARD, 800, DEGREES)
    drivetrain.drive_for(FORWARD, 25, INCHES, wait=False)
    wait(0.5, SECONDS)
    while not drivetrain.is_done():
        wait(5, MSEC)
    claw_motor.spin_for(REVERSE, 180, DEGREES)

# VR threads — Do not delete
vr_thread(main)

正在移动 #

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。

def main():
    # Raise the Arm once stopped near the Goal
    drivetrain.turn_for(LEFT, 110, DEGREES)
    drivetrain.drive_for(FORWARD, 25, INCHES, wait=False)
    wait (0.5, SEC)
    while drivetrain.is_moving():
        wait(5, MSEC)
    arm_motor.spin_for(FORWARD, 800, DEGREES)

# VR threads — Do not delete
vr_thread(main)

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`	Optional. The velocity unit: `PERCENT` (default).

def main():
    # Show speed while driving to the Goal
    drivetrain.drive_for(FORWARD, 150, MM)
    brain.screen.print("Velocity: ")
    brain.screen.print(drivetrain.velocity(PERCENT))

# VR threads — Do not delete
vr_thread(main)

运动 #

Flex 使用机械臂电机来升降机械臂，使用机械爪电机来打开和关闭机械爪。

每个电机都有其自身的运动方向。方向描述解释了每个方向如何驱动 Flex 上的电机运动。

行动 #

旋转 #

spin spins a motor in one of two directions 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
`arm_motor`	`arm_motor.spin(direction)` — Arm Motor
`claw_motor`	`claw_motor.spin(direction)` — Claw Motor

参数

描述

direction

The direction the motor spins:

FORWARD — Moves the Arm Motor up or closes the Claw Motor.
REVERSE — Moves the Arm Motor down or opens the Claw Motor.

def main():
    # Raise the Arm before driving toward a Pin
    arm_motor.spin(FORWARD)
    wait(1, SECONDS)
    arm_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
`arm_motor`	`arm_motor.spin_for(direction, distance, units, wait)` — Arm Motor
`claw_motor`	`claw_motor.spin_for(direction, distance, units, wait)` — Claw Motor

参数	描述
`direction`	The direction the motor spins: `FORWARD` — Moves the Arm Motor up or closes the Claw Motor. `REVERSE` — Moves the Arm Motor down or opens the Claw 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():
    # Raise the Arm to carry the Pin to the Goal
    arm_motor.spin_for(FORWARD, 800, 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 Arm Motor’s position is set to 0 degrees. The Claw Motor is the exception — it starts at 467 degrees (fully closed). The motor position can also be set using the set_position method.

位置值是绝对值。这意味着旋转方向取决于电机的当前位置。

例如，如果电机从0度开始旋转到720度，它将正转两圈。如果它接着旋转到360度，它将反转一圈，因为360小于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
`arm_motor`	`arm_motor.spin_to_position(angle, units, wait=True)` — Arm Motor
`claw_motor`	`claw_motor.spin_to_position(angle, units, wait=True)` — Claw 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.

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, then release the Pin
    arm_motor.spin_to_position(800, DEGREES)
    claw_motor.spin_for(REVERSE, 180, DEGREES)

# VR threads — Do not delete
vr_thread(main)

停止 #

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
`arm_motor`	`arm_motor.stop()` — Arm Motor
`claw_motor`	`claw_motor.stop()` — Claw Motor

参数	描述
	此方法没有参数。

def main():
    # Raise the Arm partway to hold the Pin
    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.

例如，如果电机旋转了 180 度，将位置设置为 0 度会将该位置从 180 度重置为 0 度。然后，电机可以根据这个新值旋转到其他位置。

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
`arm_motor`	`arm_motor.set_position(position, units)` — Arm Motor
`claw_motor`	`claw_motor.set_position(position, units)` — Claw 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():
    # Reset encoder, raise Arm, place Pin
    arm_motor.set_position(0, DEGREES)
    arm_motor.spin_to_position(800, DEGREES)
    claw_motor.spin_for(REVERSE, 180, 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.

每个项目开始时，每个电机默认以 50% 的速度旋转。

**注意：**更高的速度会使电机转速更快，但精度可能会降低。更低的速度会使电机转速更慢，但精度可能会更高。

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
`arm_motor`	`arm_motor.set_velocity(velocity, units)` — Arm Motor
`claw_motor`	`claw_motor.set_velocity(velocity, units)` — Claw Motor

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

def main():
    # Raise the Arm fast to release the Pin
    arm_motor.set_velocity(100, PERCENT)
    arm_motor.spin_for(FORWARD, 800, DEGREES)
    claw_motor.spin_for(REVERSE, 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
`arm_motor`	`arm_motor.set_timeout(value, units)` — Arm Motor
`claw_motor`	`claw_motor.set_timeout(value, units)` — Claw 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():
    # Score a Pin in a Neutral Goal
    drivetrain.turn_for(LEFT, 110, DEGREES)
    arm_motor.set_timeout(1, SECONDS)
    arm_motor.spin_for(FORWARD, 1800, DEGREES)
    drivetrain.drive_for(FORWARD, 25, INCHES)
    claw_motor.spin_for(REVERSE, 180, DEGREES)

# 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
`arm_motor`	`arm_motor.is_done()` — Arm Motor
`claw_motor`	`claw_motor.is_done()` — Claw Motor

参数	描述
	此方法没有参数。

def main():
    # Raise the Arm while driving to the Goal
    arm_motor.spin_to_position(800, DEGREES, wait=False)
    wait(0.1, SECONDS)
    while not arm_motor.is_done():
        drivetrain.drive(FORWARD)
        wait(5, MSEC)
    drivetrain.stop()

# VR threads — Do not delete
vr_thread(main)

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
`arm_motor`	`arm_motor.is_spinning()` — Arm Motor
`claw_motor`	`claw_motor.is_spinning()` — Claw Motor

参数	描述
	此方法没有参数。

def main():
    # Raise the Arm while driving to the Goal, then release the Pin
    arm_motor.spin_to_position(800, DEGREES, wait=False)
    wait(0.1, SECONDS)
    while arm_motor.is_spinning():
        drivetrain.drive_for(FORWARD, 25, MM)
    claw_motor.spin_for(REVERSE, 180, DEGREES)

# VR threads — Do not delete
vr_thread(main)

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.

项目开始时，机械臂电机的初始位置设置为 0 度。爪形电机是个例外——它的初始位置为 467 度（完全闭合）。如果电机向前旋转一整圈，位置就会增加；如果电机向反方向旋转，位置就会减少。

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
`arm_motor`	`arm_motor.position(units)` — Arm Motor
`claw_motor`	`claw_motor.position(units)` — Claw Motor

参数	描述
`units`	The unit to return the motor position in: `DEGREES` or `TURNS`.

def main():
    # Raise the Arm, then release the Pin
    while arm_motor.position(DEGREES) < 800:
        arm_motor.spin(FORWARD)
        wait(2, MSEC)
    arm_motor.stop()
    claw_motor.spin_for(REVERSE, 180, DEGREES)

# VR threads — Do not delete
vr_thread(main)

速度 #

velocity returns how fast the motor is spinning.

正值表示电机正转，负值表示电机反转。

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
`arm_motor`	`arm_motor.velocity(units)` — Arm Motor
`claw_motor`	`claw_motor.velocity(units)` — Claw Motor

参数	描述
`units`	The velocity unit to return: `PERCENT`.

def main():
    # Show Arm Motor velocity while raising
    arm_motor.set_velocity(100, PERCENT)
    arm_motor.spin_to_position(800, DEGREES, wait=False)
    wait(0.2, SECONDS)
    brain.screen.print(arm_motor.velocity(PERCENT))

# VR threads — Do not delete
vr_thread(main)

人工智能视觉 #

获取器 #

拍摄快照 #

take_snapshot filters data from the 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.

该元组按宽度从大到小排序存储对象，索引从 0 开始。每个对象的属性 (#properties) 可以通过其索引访问。如果没有检测到匹配的对象，则返回空元组。

Usage:
ai_vision.take_snapshot(signature)

参数	描述
`signature`	Filters the dataset to only include data of the given signature. Available signatures are: `AiVision.ALL_AIOBJS` - Detects all game elements. `GameElements.RED_BLUE_PIN` - Detects RedBluePin game elements. `GameElements.BLUE_YELLOW_PIN` - Detects BlueYellowPin game elements. `GameElements.RED_YELLOW_PIN` - Detects RedYellowPin game elements. `GameElements.YELLOW_PIN` - Detects YellowPin game elements. `GameElements.CUP` - Detects Cup game elements.

参数

描述

signature

Filters the dataset to only include data of the given signature. Available signatures are:

AiVision.ALL_AIOBJS - Detects all game elements.
GameElements.RED_BLUE_PIN - Detects RedBluePin game elements.
GameElements.BLUE_YELLOW_PIN - Detects BlueYellowPin game elements.
GameElements.RED_YELLOW_PIN - Detects RedYellowPin game elements.
GameElements.YELLOW_PIN - Detects YellowPin game elements.
GameElements.CUP - Detects Cup game elements.

def main():
    # Raise the Arm, drive to the Goal, release the Pin
    arm_motor.spin_for(FORWARD, 300, DEGREES)
    drivetrain.drive_for(FORWARD, 10, INCHES)
    claw_motor.spin_for(REVERSE, 180, DEGREES)

    drivetrain.turn_for(LEFT, 70, DEGREES)

    # Turn to face the Pin
    drivetrain.set_turn_velocity(30, PERCENT)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            if ai_objects[0].centerX < 140:
                drivetrain.turn(LEFT)
            elif ai_objects[0].centerX > 180:
                drivetrain.turn(RIGHT)
            else:
                drivetrain.stop()
                break

# VR threads — Do not delete
vr_thread(main)

特性 #

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 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.

。宽度 #

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

def main():
    # Raise the Arm, drive to the Goal, release the Pin
    arm_motor.spin_for(FORWARD, 300, DEGREES)
    drivetrain.drive_for(FORWARD, 10, INCHES)
    claw_motor.spin_for(REVERSE, 180, DEGREES)

    drivetrain.turn_for(LEFT, 70, DEGREES)

    # Approach the next Cup and Pin
    drivetrain.set_drive_velocity(30, PERCENT)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            if ai_objects[0].width > 140:
                drivetrain.stop()
                break
            else:
                drivetrain.drive(FORWARD)

# VR threads — Do not delete
vr_thread(main)

。高度 #

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

def main():
    # Raise the Arm, drive to the Goal, release the Pin
    arm_motor.spin_for(FORWARD, 300, DEGREES)
    drivetrain.drive_for(FORWARD, 10, INCHES)
    claw_motor.spin_for(REVERSE, 180, DEGREES)

    drivetrain.turn_for(LEFT, 70, DEGREES)

    # Approach the next Cup and Pin
    drivetrain.set_drive_velocity(30, PERCENT)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            if ai_objects[0].height > 200:
                drivetrain.stop()
                break
            else:
                drivetrain.drive(FORWARD)

# 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():
    # Raise the Arm, drive to the Goal, release the Pin
    arm_motor.spin_for(FORWARD, 300, DEGREES)
    drivetrain.drive_for(FORWARD, 10, INCHES)
    claw_motor.spin_for(REVERSE, 180, DEGREES)

    drivetrain.turn_for(LEFT, 70, DEGREES)

    # Turn and approach the next Cup and Pin
    drivetrain.set_turn_velocity(30, PERCENT)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            if ai_objects[0].centerX < 140:
                drivetrain.turn_for(LEFT, 5, DEGREES)
            else: 
                drivetrain.drive_for(FORWARD, 25, INCHES)
                break

# VR threads — Do not delete
vr_thread(main)

.centerY #

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

def main():
    # Raise the Arm, drive to the Goal, release the Pin
    arm_motor.spin_for(FORWARD, 300, DEGREES)
    drivetrain.drive_for(FORWARD, 10, INCHES)
    claw_motor.spin_for(REVERSE, 180, DEGREES)

    drivetrain.turn_for(LEFT, 70, DEGREES)

    # Approach the next Cup and Pin
    drivetrain.set_drive_velocity(30, PERCENT)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            if ai_objects[0].centerY > 230:
                drivetrain.stop()
                break
            else:
                drivetrain.drive(FORWARD)

# 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():
    # Raise the Arm, drive to the Goal, release the Pin
    arm_motor.spin_for(FORWARD, 300, DEGREES)
    drivetrain.drive_for(FORWARD, 10, INCHES)
    claw_motor.spin_for(REVERSE, 180, DEGREES)

    drivetrain.turn_for(LEFT, 70, DEGREES)

    # Turn and approach the next Cup and Pin
    drivetrain.set_turn_velocity(30, PERCENT)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            if ai_objects[0].originX < 100:
                drivetrain.turn_for(LEFT, 5, DEGREES)
            else:
                drivetrain.drive_for(FORWARD, 25, INCHES)
                break

# VR threads — Do not delete
vr_thread(main)

.originY #

.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():
    # Raise the Arm, drive to the Goal, release the Pin
    arm_motor.spin_for(FORWARD, 300, DEGREES)
    drivetrain.drive_for(FORWARD, 10, INCHES)
    claw_motor.spin_for(REVERSE, 180, DEGREES)

    drivetrain.turn_for(LEFT, 70, DEGREES)

    # Approach the next Cup and Pin
    drivetrain.set_drive_velocity(30, PERCENT)
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            if ai_objects[0].originY > 140:
                drivetrain.stop()
                break
            else:
                drivetrain.drive(FORWARD)

# VR threads — Do not delete
vr_thread(main)

。ID #

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

人工智能分类	ID	签名
红蓝针	0	`GameElements.RED_BLUE_PIN`
蓝黄针	1	`GameElements.BLUE_YELLOW_PIN`
红黄针	2	`GameElements.RED_YELLOW_PIN`
黄针	3	`GameElements.YELLOW_PIN`
杯子	4	`GameElements.CUP`

def main():
    # Raise the Arm, drive to the Goal, release the Pin
    arm_motor.spin_for(FORWARD, 300, DEGREES)
    drivetrain.drive_for(FORWARD, 10, INCHES)
    claw_motor.spin_for(REVERSE, 180, DEGREES)

    drivetrain.turn_for(LEFT, 70, DEGREES)

    # Display the ID of the next closest object
    while True:
        ai_objects = ai_vision.take_snapshot(AiVision.ALL_AIOBJS)
        if ai_objects:
            brain.screen.print(ai_objects[0].id)
            break

# VR threads — Do not delete
vr_thread(main)

安慰 #

项目运行时，控制台会显示文本、数字和变量值。控制台方法还可以将光标移动到新行、清除控制台以及向“监视器”选项卡添加变量或传感器值。

打印 #

脑屏幕打印 #

brain.screen.print displays text, numbers, or variable values in the Console using the current cursor position.

Use brain.screen.next_row when you want the next printed value to start on a new row.

Usage:
brain.screen.print(value)

参数	描述
`value`	要在控制台中显示的文本、数字或变量值。

def main():
    # Display a message in the Console
    brain.screen.print("Hello, robot!")

# VR threads — Do not delete
vr_thread(main)

brain.screen.下一行 #

brain.screen.next_row moves the cursor to column 1 on the next row in the Console. The next value printed will appear on that row.

Usage:
brain.screen.next_row()

参数	描述
	此方法没有参数。

def main():
    # Print on two rows
    brain.screen.print("Row 1")
    brain.screen.next_row()
    brain.screen.print("Row 2")

# VR threads — Do not delete
vr_thread(main)

brain.screen.clear_screen #

brain.screen.clear_screen clears all rows from the Console and moves the cursor back to Row 1.

Usage:
brain.screen.clear_screen()

参数	描述
	此方法没有参数。

def main():
    # Display text, then clear it after two seconds
    brain.screen.print("This will disappear...")
    wait(2, SECONDS)
    brain.screen.clear_screen()

# VR threads — Do not delete
vr_thread(main)

监视器 #

监控变量 #

monitor_variable adds one or more predefined variables to the Monitor tab in VEXcode. This lets you watch a variable’s value change while a project is running.

Variables must be global for monitor_variable to monitor them successfully. Provide each variable name as a string.

Usage:
monitor_variable(“variable”)
monitor_variable(“variable1”, “variable2”)

参数	描述
`variable`	要监控的预定义全局变量的名称，以字符串形式给出。要监控多个变量，请用逗号分隔每个变量名。

def main():
    # Monitor the number of loops
    global loops
    monitor_variable("loops")

    # Turn in a full circle 3 times
    for loops in range(12):
        drivetrain.turn_for(RIGHT, 90, DEGREES)

# VR threads — Do not delete
vr_thread(main)

监控传感器 #

monitor_sensor adds one or more sensor values to the Monitor tab in VEXcode. This lets you watch sensor values change while a project is running.

请以字符串形式提供每个传感器的值。

Usage:
monitor_sensor(“sensor”)
monitor_sensor(“sensor1”, “sensor2”)

参数	描述
`sensor`	The sensor value to monitor, given as a string. To monitor more than one sensor value, separate each sensor value with a comma. Supported sensor identifiers include: Brain `brain.timer.time` Drivetrain `drivetrain.is_done` `drivetrain.is_moving` `drivetrain.heading` `drivetrain.rotation` `drivetrain.velocity` Arm Motor `arm_motor.is_done` `arm_motor.is_spinning` `arm_motor.position` `arm_motor.velocity` Claw Motor `claw_motor.is_done` `claw_motor.is_spinning` `claw_motor.position` `claw_motor.velocity` Distance Sensor `distance.is_object_detected` `distance.object_distance_mm` `distance.object_distance_inches` GPS Sensor `gps.position_mm` `gps.position_inches` `gps.heading` AI Vision Sensor `ai_vision.object_count` `ai_vision.height` `ai_vision.width` `ai_vision.centerX` `ai_vision.centerY` `ai_vision.originX` `ai_vision.originY` `ai_vision.id`

参数

描述

sensor

The sensor value to monitor, given as a string. To monitor more than one sensor value, separate each sensor value with a comma. Supported sensor identifiers include:

Brain
- brain.timer.time
Drivetrain
- drivetrain.is_done
- drivetrain.is_moving
- drivetrain.heading
- drivetrain.rotation
- drivetrain.velocity
Arm Motor
- arm_motor.is_done
- arm_motor.is_spinning
- arm_motor.position
- arm_motor.velocity
Claw Motor
- claw_motor.is_done
- claw_motor.is_spinning
- claw_motor.position
- claw_motor.velocity
Distance Sensor
- distance.is_object_detected
- distance.object_distance_mm
- distance.object_distance_inches
GPS Sensor
- gps.position_mm
- gps.position_inches
- gps.heading
AI Vision Sensor
- ai_vision.object_count
- ai_vision.height
- ai_vision.width
- ai_vision.centerX
- ai_vision.centerY
- ai_vision.originX
- ai_vision.originY
- ai_vision.id

def main():
    # Monitor the robot's heading
    monitor_sensor("drivetrain.heading")
    drivetrain.turn_for(RIGHT, 450, DEGREES)

# VR threads — Do not delete
vr_thread(main)

传感 #

距离 #

找到的对象 #

found_object returns whether the Distance Sensor currently detects an object within 2000mm.

True — The Distance Sensor detects an object.
False — The Distance Sensor does not detect an object.

Usage:
distance.found_object()

参数	描述
	此方法没有参数。

def main():
    # Turn until something is detected, then release the Pin
    drivetrain.turn(RIGHT)
    while True:
        wait(5, MSEC)
        if distance.found_object():
            drivetrain.stop()
            break
    arm_motor.spin_for(FORWARD, 300, DEGREES)
    drivetrain.drive_for(FORWARD, 10, INCHES)
    claw_motor.spin_for(REVERSE, 180, DEGREES)

# VR threads — Do not delete
vr_thread(main)

物体距离 #

object_distance returns the distance between the Distance Sensor and the nearest detected object.

Usage:
distance.object_distance(units)

参数	描述
`units`	The distance unit: `MM` or `INCHES`.

def main():
    # Drive until 200 mm from the Goal, then release the Pin
    while distance.object_distance(MM) > 200:
        wait(5, MSEC)
        drivetrain.drive(FORWARD)
    drivetrain.stop()
    arm_motor.spin_for(FORWARD, 300, DEGREES)
    drivetrain.drive_for(FORWARD, 10, INCHES)
    claw_motor.spin_for(REVERSE, 180, DEGREES)

# VR threads — Do not delete
vr_thread(main)

全球定位系统 #

x_position #

x_position returns the current x-coordinate of a GPS (Game Positioning System™) Sensor on the field.

Usage:
gps.x_position(units)

参数	描述
单位	The unit of the offset value: `INCHES` or `MM`

def main():
    # Raise the Arm, drive to the Goal, release the Pin
    arm_motor.spin_for(FORWARD, 300, DEGREES)
    drivetrain.drive(FORWARD)
    while not gps.x_position(MM) > -1370:
        wait(2, MSEC)
    drivetrain.stop()
    claw_motor.spin_for(REVERSE, 180, DEGREES)

# VR threads — Do not delete
vr_thread(main)

y 位置 #

y_position returns the current y-coordinate of a GPS (Game Positioning System™) Sensor on the field.

Usage:
gps.y_position(units)

参数	描述
单位	The unit of the offset value: `INCHES` or `MM`

def main():
    # Raise the Arm, drive to the Goal, release the Pin
    arm_motor.spin_for(FORWARD, 300, DEGREES)
    drivetrain.drive(FORWARD)
    while not gps.y_position(MM) < -450:
        wait(2, MSEC)
    drivetrain.stop()
    claw_motor.spin_for(REVERSE, 180, DEGREES)

# VR threads — Do not delete
vr_thread(main)

标题 #

heading returns the heading that the robot is currently facing based on the GPS (Game Positioning System™) Sensor’s readings from 0 to 359 degrees.

Usage:
gps.heading()

参数	描述
	此方法没有参数。

def main():
    # Raise the Arm, drive to the Goal, release the Pin
    monitor_sensor("gps.heading")
    arm_motor.spin_for(FORWARD, 300, DEGREES)
    drivetrain.drive_for(FORWARD, 10, INCHES)
    claw_motor.spin_for(REVERSE, 180, DEGREES)

    # Turn left to face the Neutral Goal
    drivetrain.set_turn_velocity(30, PERCENT)
    drivetrain.turn(LEFT)
    while not gps.heading() < 18:
        wait(2, MSEC)
    drivetrain.stop()


# VR threads — Do not delete
vr_thread(main)