API Reference

Creates an ultrasonic distance sensor object.

# Initialize distance sensor on port 5
front_distance = Distance(5)

# Read distance in millimeters
dist = front_distance.object_distance(MM)

# Check if object is detected
if front_distance.is_object_detected():
    print("Object found at", dist, "mm")

Creates a gyroscope sensor for rotation and heading tracking.

# Initialize gyro sensor
gyro = Gyro(3)

# Calibrate before use
gyro.calibrate()

# Get current heading (0-360)
heading = gyro.heading()

# Get rotation from start
rotation = gyro.rotation()

Creates a touch/bumper sensor for collision detection.

# Initialize bumper sensor
front_bumper = Bumper(7)

# Check if pressed
if front_bumper.pressing():
    drivetrain.stop()
    drivetrain.drive_for(REVERSE, 200, MM)

Creates a line tracking sensor for following lines.

# Initialize line trackers
left_line = LineTracker(1)
right_line = LineTracker(2)

# Get reflectivity (0-100)
left_val = left_line.reflectivity()

# Simple line following
while True:
    if left_line.reflectivity() > 50:
        drivetrain.turn(LEFT)
    elif right_line.reflectivity() > 50:
        drivetrain.turn(RIGHT)
    else:
        drivetrain.drive(FORWARD)

Creates a vision sensor with color signatures for object detection.

# Define color signatures
RED_BALL = Signature(1, 8973, 11143, 10058, -2119, -1053, -1586, 5.4, 0)
BLUE_BALL = Signature(2, -2477, -1387, -1932, 6561, 8421, 7491, 2.5, 0)

# Initialize vision sensor
vision = Vision(8, RED_BALL, BLUE_BALL)

Captures current frame and returns detected objects matching the signature.

# Take snapshot looking for red balls
vision.take_snapshot(RED_BALL)

# Check if objects found
if vision.object_count > 0:
    # Get largest object
    obj = vision.largest_object
    
    # Get object properties
    center_x = obj.centerX  # 0-316
    center_y = obj.centerY  # 0-212
    width = obj.width
    height = obj.height
    
    # Track object (center screen = 158)
    error = 158 - center_x
    drivetrain.arcade(30, error * 0.5)

Creates an AI-powered vision sensor for advanced object recognition.

# Initialize AI Vision (MRX AIR platform)
ai_vision = AIVision(10)

# Detect game elements
ai_vision.take_snapshot(AI_GAME_ELEMENT)

for obj in ai_vision.objects:
    print(f"Found: {obj.label} at ({obj.centerX}, {obj.centerY})")
    print(f"Confidence: {obj.confidence}%")
    
# AprilTag detection for positioning
ai_vision.take_snapshot(AI_APRILTAG)
if ai_vision.object_count > 0:
    tag = ai_vision.largest_object
    print(f"Tag ID: {tag.id}, Distance: {tag.distance}mm")

Pauses program execution for the specified time.

# Wait 1 second
wait(1, SECONDS)

# Wait 500 milliseconds
wait(500, MSEC)

# Control loop timing
while True:
    # Process inputs
    drivetrain.arcade(controller.axis3.position(), controller.axis1.position())
    wait(20, MSEC)  # 50Hz update rate

Creates a timer for measuring elapsed time.

# Create and use timer
match_timer = Timer()

# Reset timer
match_timer.reset()

# Check elapsed time
if match_timer.time(SECONDS) > 15:
    # Autonomous period over
    pass
    
# Time an operation
match_timer.reset()
drivetrain.drive_for(FORWARD, 1000, MM)
print("Drive took:", match_timer.time(MSEC), "ms")

Handles competition state for autonomous and driver control periods.

# Define autonomous routine
def autonomous():
    drivetrain.drive_for(FORWARD, 600, MM)
    drivetrain.turn_for(RIGHT, 90, DEG)
    intake.spin_for(FORWARD, 2, SECONDS)

# Define driver control
def driver_control():
    while True:
        drivetrain.arcade(
            controller.axis3.position(),
            controller.axis1.position()
        )
        wait(20, MSEC)

# Register callbacks
competition = Competition()
competition.autonomous(autonomous)
competition.driver_control(driver_control)