机器人专用 Python

介绍

英雄机器人 Flop 包含一个进气电机、一个机械臂电机和一个 IQ AI 视觉传感器。

所有标准的 VEXcode VR Python 命令都可以在 IQ 26-27 Level Up Playground 中使用。

以下是所有可用的机器人专用 Python 命令列表：

运动控制——移动并跟踪机器人的电机。

• 操作

  • spin – 使电机永远朝一个方向旋转。

  • spin_for – 使电机旋转特定角度或圈数。

  • spin_to_position – 将电机旋转到指定位置。

  • stop – 停止电机旋转。

• 设置

  • set_velocity – 设置电机的旋转速度。

  • set_timeout – 设置电机尝试完成运动的时间。

  • set_position – 将电机的当前位置更改为新值。

• 价值观

  • is_done – 返回电机是否停止运转。

  • is_spinning – 返回电机是否正在旋转。

  • position – 返回电机的当前位置。

  • velocity – 返回电机的旋转速度。

AI视觉——使用IQ AI视觉传感器捕捉和分析物体。

• Getters

  • take_snapshot – 将传感器的当前帧过滤为特定签名，并返回检测到的对象元组。

• 特性

  • .width – 返回检测到的对象以像素为单位的宽度。

  • .height – 返回检测到的对象的高度（以像素为单位）。

  • .centerX – 返回检测到的对象的中心的 x 坐标。

  • .centerY – 返回检测到的对象中心的 y 坐标。

  • .originX – 返回检测到的对象边界框左上角的 x 坐标。

  • .originY – 返回检测到的对象边界框左上角的 y 坐标。

  • .id – 返回检测到的 AI 分类的 ID。

本页示例使用 Playground 的默认起始位置。

运动

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

方向常量：

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

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

旋转

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)

参数	描述
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)

spin_for

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)

参数	描述
direction	The direction to spin: FORWARD or REVERSE.
amount	旋转距离。可以是整数或小数。
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)

自旋至位置

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)

参数	描述
position	要旋转到的位置。可以是整数或小数。
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)

停止

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)

设置速度

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

Usage:
motor.set_velocity(velocity, unit)

参数	描述
velocity	电机转速，以百分比表示，范围从 0 到 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)

设置超时

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

Usage:
motor.set_timeout(timeout, unit)

参数	描述
timeout	电机尝试完成一次动作的秒数。
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)

设置位置

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

Usage:
motor.set_position(position, unit)

参数	描述
position	新的位置值。
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)

已完成

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)

正在旋转

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)

位置

position returns the motor’s current position.

Usage:
motor.position(unit)

参数	描述
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)

速度

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

Usage:
motor.velocity(unit)

参数	描述
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)

人工智能视觉

拍摄快照

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.

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 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)

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 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.

。宽度

.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)

。高度

.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)

.centerY

.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)

.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():
    # 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)

。ID

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

人工智能分类	ID
蓝豆袋	0
红豆袋	1
黄豆袋	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)