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"I*%G=_]V-sXBNOftv-iw" }, { "name": "前后", "id": "cwr5{@=]SOVruAC9x6~d" } ] }, "icons": { "comment": { "text": "描述该功能...", "pinned": false, "height": 80, "width": 160 } }, "fields": { "NAME": "前" }, "inputs": { "STACK": { "block": { "type": "apm_mini_native_move_cm", "id": "N^R,Q^ga5fe;x*3=h`n8", "fields": { "MOTOR": "3" }, "inputs": { "RPM": { "shadow": { "type": "math_number", "id": "~TNlt)RNov-M#Wn/~|JE", "fields": { "NUM": 50 } }, "block": { "type": "variables_get", "id": "[;z$ID4[J[$`$g:!Lj.q", "fields": { "VAR": { "id": "cwr5{@=]SOVruAC9x6~d" } } } }, "CM": { "shadow": { "type": "math_number", "id": "|}q-X{J}Qex:yIW_JON-", "fields": { "NUM": 50 } }, "block": { "type": "variables_get", "id": "v-b~Kxb{WPJ5Kn2RvZ~T", "fields": { "VAR": { "id": "I*%G=_]V-sXBNOftv-iw" } } } } } } } } }, { "type": "procedures_defnoreturn", "id": "]nz}vm[j#Y9j+2RM[-PU", "x": 876, "y": 36, "icons": { "comment": { "text": "描述该功能...", "pinned": false, "height": 80, "width": 160 } }, "fields": { "NAME": "左转" }, "inputs": { "STACK": { "block": { "type": "apm_mini_native_rotate", "id": "0|Yv%uPB5=h40pDKeHH^", "inputs": { "ANGLE": { "shadow": { "type": "math_number", "id": "YJba)D~`V^z6$R+4jY!A", "fields": { "NUM": -90 } } }, "RPM": { "shadow": { "type": "math_number", "id": "%0}X2k/$2#Rjjc:uEAl4", "fields": { "NUM": 50 } } } } } } } } ] }, "variables": [ { "name": "speed", "id": "wR48!kj32FL0|mAt^ATd" }, { "name": "x", "id": ")nP):$+)@2nAN:!Kk/r$" }, { "name": "速度", "id": "3mh/4K[7Grmey(Of6_9-" }, { "name": "距离", "id": "I*%G=_]V-sXBNOftv-iw" }, { "name": "前后", "id": "cwr5{@=]SOVruAC9x6~d" } ] }, "python": "import drive\nimport motor\nimport competition_control\nimport remote_controller\nimport time\n\n距离 = None\n前后 = None\nspeed = None\n\ndef _E5_89_8D(距离, 前后):\n global speed\n competition_control.checkpoint()\n competition_control.checkpoint()\n competition_control.checkpoint()\n drive.move_cm(3, 前后, 距离)\n\ndef _E5_B7_A6_E8_BD_AC():\n global 距离, 前后, speed\n competition_control.checkpoint()\n competition_control.checkpoint()\n competition_control.checkpoint()\n drive.rotate((-90) * 2, 50)\n\n\ncompetition_control.checkpoint()\ndrive.set_pid(0.7, 0.008, 0.002)\ncompetition_control.checkpoint()\n吸轮马达 = motor.smart_motor(1, openloop_remap_cut=int(10), direction=True)\ncompetition_control.checkpoint()\nspeed = 0\ncompetition_control.checkpoint()\nwith competition_control.Session(remote_controller.START, 15, remote_controller, ((drive.stop_rpm, (0,)), (吸轮马达.stop, ()), (吸轮马达.stop, (True,)),), scan_remote=False, manual_interval_ms=0, auto_enabled=True) as competition_session:\n while competition_session.poll():\n if competition_session.is_auto():\n with competition_session.auto_phase():\n competition_control.checkpoint()\n _E5_89_8D(50, 50)\n competition_control.checkpoint()\n time.sleep_ms(int(4000))\n competition_control.checkpoint()\n _E5_B7_A6_E8_BD_AC()\n competition_control.checkpoint()\n time.sleep_ms(int(1000))\n competition_control.checkpoint()\n _E5_89_8D(20, 50)\n competition_control.checkpoint()\n time.sleep_ms(int(2000))\n competition_control.checkpoint()\n _E5_89_8D(20, -50)\n competition_control.checkpoint()\n time.sleep_ms(int(2000))\n elif competition_session.is_manual():\n competition_control.checkpoint()\n if remote_controller.get_button(remote_controller.A):\n competition_control.checkpoint()\n speed = 0\n elif remote_controller.get_button(remote_controller.M):\n competition_control.checkpoint()\n speed = 1\n competition_control.checkpoint()\n if remote_controller.get_button(remote_controller.UP):\n competition_control.checkpoint()\n drive.drive_rpm(100, 100)\n elif remote_controller.get_button(remote_controller.DOWN):\n competition_control.checkpoint()\n drive.drive_rpm(-100, -100)\n elif remote_controller.get_button(remote_controller.LEFT):\n competition_control.checkpoint()\n drive.drive_rpm(-100, 100)\n elif remote_controller.get_button(remote_controller.RIGHT):\n competition_control.checkpoint()\n drive.drive_rpm(100, -100)\n elif speed == 0:\n competition_control.checkpoint()\n if remote_controller.get_axis(remote_controller.LEFT_Y) - remote_controller.get_axis(remote_controller.RIGHT_Y) > 40 or remote_controller.get_axis(remote_controller.RIGHT_Y) - remote_controller.get_axis(remote_controller.LEFT_Y) > 40:\n competition_control.checkpoint()\n drive.drive_rpm(remote_controller.get_axis(remote_controller.LEFT_Y) * 0.8, remote_controller.get_axis(remote_controller.RIGHT_Y) * 0.8)\n else:\n competition_control.checkpoint()\n drive.drive_rpm(remote_controller.get_axis(remote_controller.LEFT_Y) * 1, remote_controller.get_axis(remote_controller.RIGHT_Y) * 1)\n elif speed == 1:\n competition_control.checkpoint()\n if remote_controller.get_axis(remote_controller.LEFT_Y) - remote_controller.get_axis(remote_controller.RIGHT_Y) > 40 or remote_controller.get_axis(remote_controller.RIGHT_Y) - remote_controller.get_axis(remote_controller.LEFT_Y) > 40:\n competition_control.checkpoint()\n drive.control_motor(1, remote_controller.get_axis(remote_controller.LEFT_Y) * 0.66, soft_break=False)\n competition_control.checkpoint()\n drive.control_motor(2, remote_controller.get_axis(remote_controller.RIGHT_Y) * 0.66, soft_break=False)\n else:\n competition_control.checkpoint()\n drive.control_motor(1, remote_controller.get_axis(remote_controller.LEFT_Y) * 0.85, soft_break=False)\n competition_control.checkpoint()\n drive.control_motor(2, remote_controller.get_axis(remote_controller.RIGHT_Y) * 0.85, soft_break=False)\n competition_control.checkpoint()\n if remote_controller.get_button(remote_controller.R1):\n competition_control.checkpoint()\n 吸轮马达.openloop_turn(int(80))\n elif remote_controller.get_button(remote_controller.R2):\n competition_control.checkpoint()\n 吸轮马达.openloop_turn(int(-80))\n else:\n competition_control.checkpoint()\n 吸轮马达.openloop_turn(int(0))\n", "programmingMode": "blocks" }