pyblocks/all_blocks.md

Notation

• (value)
• (d! dropdown)
• <boolean>
• (m! display matrix picker)

Hub

• DONE initialize hub (d! top_side = Axis.Z) (d! front_size = Axis.X)
  • transpiled: hub = PrimeHub(top_side, front_side)

Hub - Status Light

• DONE set button color to (d! color)

  • transpiled: hub.light.on(color)

• DONE turn off button light

  • transpiled: hub.light.off()

todo: light.blink todo: light.animate

Hub - Display

• set display orientation to (d! side)

  • transpiled: hub.display.orientation(side)

• DONE turn display off

  • transpiled: hub.display.off()

• DONE set (m! row, col) to (brightness %) brightness

  • transpiled: hub.display.pixel(row, col, brightness)

• DONE show (m! picutre) on display

  • transpiled: hub.display.icon(picture)

todo: display.animate

• DONE show (number) on display

  • transpiled: hub.display.number(number)

• show (char) on display

  • transpiled: hub.display.char(char)

• DONE scroll (text) on display

  • transpiled: hub.display.text(text)

• scroll (text) on display, on for (on) off for (off)

  • transpiled: hub.display.text(text, on, off)

Hub - Buttons

!- (buttons pressed) ! - transpiled: hub.buttons.pressed()

• DONE <is (d! button) button pressed?>
  • transpiled: button in hub.buttons.pressed()

Hub - IMU

• DONE <imu ready?>

  • transpiled: hub.imu.ready()

• DONE <is moving?>

  • transpiled: !hub.imu.stationary()

• (side facing up)

  • transpiled: hub.imu.up()

• DONE (pitch)

  • transpiled: hub.imu.tilt()[0]

• DONE (roll)

  • transpiled: hub.imu.roll()[1]

• DONE (acceleration (d! axis))

  • transpiled: hub.imu.acceleration(axis)

• DONE (angular velocity (d! axis))

  • transpiled: hub.imu.angular_velocity(axis)

• DONE (yaw)

  • transpiled: hub.imu.heading()
  • warning: must be reset if lifted from table
  • reset in prelude?

• DONE reset yaw angle

  • transpiled: hub.imu.reset_heading(0)

• DONE reset yaw angle to (degrees)

  • transpiled: hub.imu.reset_heading(degrees)

todo: imu.rotation todo: imu.orientation

• DONE (angular velocity threshold)

  • transpiled: hub.imu.settings()[0]

• DONE (acceleration threshold)

  • transpiled: hub.imu.settings()[1]

• DONE set angular velocity threshold to (threshold)

  • transpiled: hub.imu.settings(threshold, hub.imu.settings()[1])

• DONE set acceleration threshold to (threshold)

  • transpiled: hub.imu.settings(hub.imu.settings()[0], threshold)

Hub - Speaker

• (volume)

  • transpiled: hub.speaker.volume()

• set speaker volume to (volume)

  • transpiled: hub.speaker.volume(volume)

• play tone (frequency) for (ms) ms

  • transpiled: hub.speaker.beep(frequency, ms)

• start playing tone (frequency)

  • transpiled: hub.speaker.beep(frequency, -1)

todo: speaker.play_notes

TODO: Hub - Bluetooth

Not legal for competition, so I skipped it. Easy to design though, for late.r

Hub - Battery

• (battery voltage)

  • transpiled: hub.battery.voltage()

• (battery current)

  • transpiled: hub.battery.current()

• <charger connected?>

  • transpiled: hub.charger.connected()

• (charging current)

  • transpiled: hub.charger.current()

• <is charging?>

  • transpiled: hub.charger.status() == 1

• <is charging complete?>

  • transpiled: hub.charger.status() == 2

• <is charging stopped?>

  • transpiled: hub.charger.status() == 3

Hub - Control

• set stop button to (button)

  • transpiled: hub.system.set_stop_button(button)

• (hub name)

  • transpiled: hub.system.name()

todo: system.storage

• DONE stop and exit program - program terminator

  • transpiled: prelude code, go back to selection screen

• DONE stop and restart program - program terminator

  • transpiled: prelude code, exit, run again

• DONE stop and shutdown system - program terminator

  • transpiled: hub.system.shutdown()

• <last shut down normally?>

  • transpiled: hub.system.reset_reason() == 0

• <last shut down automatically?>

  • transpiled: hub.system.reset_reason() == 1

• <last shut down by crash?>

  • transpiled: hub.system.reset_reason() == 2

Motors

Motors - DC

• turn on dc motor (port) at (power) power

  • transpiled: motor.dc(power)

• stop dc motor (port)

  • transpiled: motor.stop()

• set max voltage of dc motor (port) to (voltage)

  • transpiled: motor.settings(voltage)

• (max voltage of dc motor (port))

  • transpiled: motor.settings()[0]

• set positive direction of dc motor (port) to (d! direction)

  • transpiled: RESET motor variable with the direction

Motors

• set positive direction of motor (port) to (d! direction)
  • traspiled: RESET motor variable with the direction

todo: geartrain todo: reset_angle

• ((port) rotation angle)

  • transpiled: motor.angle()

• reset rotation angle of (port)

  • transpiled: motor.reset_angle(0)

• reset rotation angle of (port) to (deg)

  • transpiled: motor.reset_angle(deg)

• ((port) current speed)

  • transpiled: motor.speed()

• ((port) current load)

  • transpiled: motor.load()

• <(port) is stalled?>

  • transpiled: motor.stalled()

• (port) stop moving

  • transpiled: motor.stop()

• (port) brake

  • transpiled: motor.brake()

• (port) stop and hold position

  • transpiled: motor.hold()

• (port) start moving at (speed)

  • transpiled: motor.run(speed)

• (port) start moving at (power) power

  • transpiled: motor.dc(power)

• (port) run for (time) seconds at (speed) speed, then (d! stop action)

  • transpiled: motor.run_time(speed, time, stop action, True)

• (port) start running for (time) seconds at (speed) speed, then (d! stop action)

  • transpiled: motor.run_time(speed, time, stop action, False)

• (port) run for (deg) degrees at (speed), then (d! stop action)

  • transpiled: motor.run_angle(speed, deg, stop action, True)

• (port) start running for (deg) degrees at (speed), then (d! stop action)

  • transpiled: motor.run_angle(speed, deg, stop action, False)

• (port) go to relative position (deg) at (speed), then (d! stop action)

  • transpiled: motor.run_target(speed, deg, stop action, True)

• (port) start moving to relative position (deg) at (speed), then (d! stop action)

  • transpiled: motor.run_target(speed, deg, stop action, False)

• (port) go to relative position (deg) immediately

  • transpiled: motor.track_target(deg)

• (port) run at (speed) speed until stalled, then (d! stop action)

  • transpiled: motor.run_until_stalled(speed, stop action)

• (port) run at (speed) speed until stalled, then (d! stop action), with maximum power (power)

  • transpiled: motor.run_until_stalled(speed, stop action, power)

• <(port) is done moving?>

  • transpiled: motor.done()

• ((port) max speed)

  • transpiled: motor.limits()[0]

• ((port) max acceleration)

  • transpiled: motor.limits()[1]

• ((port) max torque)

  • transpiled: motor.limits()[2]

• set (port) max speed to (speed)

  • transpiled: motor.limits(speed, motor.limits()[1], motor.limits()[2])

• set (port) max acceleration to (accel)

  • transpiled: motor.limits(motor.limits()[0], accel, motor.limits()[2])

• set (port) max torque to (torq)

  • transpiled: motor.limits(motor.limits()[0], motor.limits()[1], torq)

TODO: pid TODO: tolerances TODO: stall tolerances TODO: scale TODO: state TODO: settings

Tilt Sensor

• ((port) pitch)
  • transpiled: sensor.tilt()[0]
• ((port) roll)
  • transpiled: sensor.tilt()[1]

Infrared Sensor

• ((port) infrared distance)
  • transpiled: sensor.distance()
• ((port) infrared reflection)
  • transpiled: sensor.reflection()
• ((port) object count)
  • transpiled: sensor.count()

Color and Distance Sensor

• <(port) color is (d! color)?>
  • transpiled: sensor.color() == color
• ((port) reflection)
  • transpiled: sensor.reflection()
• ((port) intensity)
  • transpiled: sensor.ambient()
• ((port) infrared distance)
  • transpiled: sensor.distance()

TODO: detectable_colors

• set (port) light to (d! color RGB)
  • transpiled: sensor.light.on(color)
• turn off (port) light
  • transpiled: sensor.light.off()

TODO - Power Functions Infrared Controls

Color Sensor

• <(port) color is (d! color)?>
  • transpiled: sensor.color() == color
• ((port) reflection)
  • transpiled: sensor.reflection()
• ((port) intensity)
  • transpiled: sensor.ambient()
• ((port) hue)
  • transpiled: sensor.hsv().h
• ((port) saturation)
  • transpiled: sensor.hsv().s
• ((port) brightness)
  • transpiled: sensor.hsv().v

TODO: detectable_colors

• turn on (port) light at (power) brightness
  • transpiled: sensor.lights.on(power)
• turn off (port) light
  • transpiled: sensor.lights.off()

Ultrasonic Sensor

• ((port) distance)
  • transpiled: sensor.distance()
• <(port) other ultrasonic sensors nearby?>
  • transpiled: sensor.presence()
• turn on (port) light at (power) brightness
  • transpiled: sensor.lights.on(power)
• turn off (port) light
  • transpiled: sensor.lights.off()

Force Sensor

• ((port) force)
  • transpiled: sensor.force()
• ((port) distance travelled)
  • transpiled: sensor.distance()
• <(port) pressed?>
  • transpiled: sensor.pressed()
• <(port) touched?>
  • transpiled: sensor.touched()

TODO - Color Light Matrix

Light

• turn on (port) at (power) brightness
  • transpiled: sensor.on(power)
• turn off (port)
  • trnaspiled: sensor.off()

TODO - Remote Control

Constants

Constants - Axis

• (x axis)
  • transpiled: Axis.X
• (y axis)
  • transpiled: Axis.Y
• (z axis)
  • transpiled: Axis.Z

Constants - Button

• (left button)
  • transpiled: Button.LEFT
• (center button)
  • transpiled: Button.CENTER
• (right button)
  • transpiled: Button.RIGHT
• (bluetooth button)
  • transpiled: Button.BLUETOOTH

Constants - Stop Behavior

• coast
  • transpiled: Stop.COAST
• preplanned coast
  • transpiled: Stop.COAST_SMART
• brake
  • transpiled: Stop.BRAKE
• hold position
  • transpiled: Stop.HOLD
• do not stop
  • transpiled: Stop.NONE

Tools

• wait (ms) ms
  • transpiled: tools.wait(ms)

TODO - Tools - Stopwatch

Movement (Robotics)

• set movement motors to (left port) and (right port)

  • transpiled: left_motor = left port; right_motor = right port; drive = DriveBase(left_motor, right_motor, wd, track)

• set wheel diameter to (mm) mm

  • transpiled: wd = mm; drive = DriveBase(left_motor, right_motor, wd, track)

• set track width to (mm) mm

  • transpiled: track = mm; drive = DriveBase(left_motor, right_motor, wd, track)

• move (mm) mm, then (d! stop)

  • transpiled: drive.straight(mm, stop, True)

• start moving (mm) mm, then (d! stop)

  • transpiled: drive.straight(mm, stop, False)

• turn in place (deg) degrees, then (d! stop)

  • transpiled: drive.turn(deg, stop, True)

• start turning in place (deg) degrees, then (d! stop)

  • transpiled: drive.turn(deg, stop, False)

• turn (deg) degrees across a (rad) mm arc, then (d! stop)

  • transpiled: drive.curve(rad, deg, stop, True)

• start turning (deg) degrees across a (rad) mm arc, then (d! stop)

  • transpiled: drive.curve(rad, deg, stop, False)

• (movement speed)

  • transpiled: drive.settings()[0]

• (movement acceleration)

  • transpiled: drive.settings()[1]

• (turn speed)

  • transpiled: drive.settings()[2]

• (turn acceleration)

  • transpiled: drive.settings()[3]

• set movement speed to (speed)

  • transpiled: drive.settings(speed, drive.settings()[1], drive.settings()[2], drive.settings()[3])

• set movement acceleration to (speed)

  • transpiled: drive.settings(drive.settings()[0], speed, drive.settings()[2], drive.settings()[3])

• set turn speed to (speed)

  • transpiled: drive.settings(drive.settings()[0], drive.settings()[1], speed, drive.settings()[3])

• set turn acceleration to (speed)

  • transpiled: drive.settings(drive.settings()[0], drive.settings()[1], drive.settings()[2], speed)

• <is done moving?>

  • transpiled: drive.done()

• start moving at (spd) speed

  • transpiled: drive.drive(spd, 0)

• start moving at (spd) speed with turn rate (tr)

  • transpiled: drive.drive(spd, tr)

• stop moving

  • transpiled: drive.stop()

• (relative distance)

  • transpiled: drive.distance()

• (relative angle)

  • transpiled: drive.angle()

• (current drive speed)

  • transpiled: drive.state()[1]

• (current turn rate)

  • transpiled: drive.state()[3]

• reset angle and distance

  • transpiled: drive.reset()

• <is stalled?>

  • transpiled: drive.stalled()

• use gyroscope for movement

  • transpiled: drive = GyroDriveBase(left_motor, right_motor, wd, track)

• use math for movement

  • transpiled: drive = DriveBase(left_motor, right_motor, wd, track)

Random

• (random number from (a) to (b))
  • transpiled: urandom.randint(a, b)
• (random decimal from 0 to 1)
  • transpiled: urandom.random()

Control

• repeat (n)
  • transpiled: for i in range(n):
• forever
  • transpiled: while True:
• if <cond> then
  • transpiled: if cond:
• if <cond> then else
  • transpiled: if cond: else:
• wait until <cond>
  • transpiled: while !<cond>: pass
• repeat until <cond>
  • transpiled: while !cond:
• stop
  • transpiled: raise SystemExit("Exited by program")

Operators

• ((a) + (b))
  • transpiled: a + b
• ((a) - (b))
  • transpiled: a - b
• ((a) * (b))
  • transpiled: a * b
• ((a) / (b))
  • transpiled: a / b
• <(a) > (b)>
  • transpiled: a > b
• <(a) < (b)>
  • transpiled: a < b
• <(a) = (b)>
  • transpiled: a == b
• <<a> and <b>>
  • transpiled: a and b
• <<a> or <b>>
  • transpiled: a or b
• <not <a>>
  • transpiled: not a
• (join (a) (b))
  • transpiled: a + b
• (letter (n) of (a))
  • transpiled: a[n]
• (length of (a))
  • transpiled: len(a)
• <(a) contains (b)?>
  • transpiled: a in b
• ((a) mod (b))
  • transpiled: a % b
• (round (a))
  • transpiled: round(a)

TODO: operators

Variables

Variables are stored as python variables with the prefix UVAR - for example UVAR_myvar

My blocks

re just functions