The robot used in the VIQC Pitching In Playground in VEXcode VR is a virtual version of Fling, the VEX IQ Hero Bot, used for the 2021-2022 VEX IQ Challenge (VIQC) Pitching In. Virtual Fling has the same dimensions and motors as the physical Fling, but with added sensors for autonomous programming in VEXcode VR. In VEXcode VR's version of Pitching In, there is only one robot, and it is already preconfigured. This eliminates the need for a robot configuration, or a predetermined template project.
Robot Controls
Fling has the following controls:
A drivetrain with a gyro. This enables the “Drivetrain” category of blocks in the Toolbox of VEXcode IQ to drive and turn the robot.
A Catapult Arm controlled by the Arm Catapult Motor. This allows the robot to launch Balls into the goals and score a low hang from the Hanging Bar.
- The Catapult Arm is launched in a continuous motion using the [Spin] block. The default position is for the arm to be lowered.
- The Catapult Arm can be leveled when set to the 2600 degree position using the [Spin to position] block. This is useful when driving under the Hanging Bars.
Catapult Arm tension controlled by the Arm Tension Motor. This allows the robot to launch Balls different distances across the Field.
- The Catapult Arm Tension can be adjusted using the [Spin to position] block. This is useful when launching Balls from different distances on the Field.
- The default tension is set to 90 degrees.
An Intake controlled by the Intake Motor. This allows the robot to take in Balls to be launched by the Catapult Arm, or reverse the intake (reversing the intake is also called the outtake) to spin the Balls out and away from the intake. The outtake can be used to gather Balls and move them to a different location.
- The intake can be spun using the [Spin for] block. Spinning the intake for 180 degrees takes in a Ball from the Field.
Robot Sensors
Virtual Fling has added sensors for autonomous programming in VEXcode VR.
Drivetrain
A Gyro Sensor that is used with the drivetrain. This allows the robot to make accurate and precise turns.
The drivetrain heading reports a value from 0 to 359.9 degrees, and clockwise is positive.
Distance Sensor
The Distance Sensor reports if an object is close to the sensor, as well the approximate distance from the front of the sensor to an object, in millimeters or inches.
The Distance Sensor in the center of the Fling can be used to detect when a Ball is loaded onto the Catapult Arm.
For more information about the IQ Distance Sensor, see this VEX Library article.
Bumper Switch
The Bumper Switch reports if it is currently being pressed or not.
The Bumper Switch is located at the base of the Catapult Arm and can be used to determine when the Catapult Arm has been fully lowered.
For more information about the Bumper Switch, see this VEX Library article.
Color Sensor
The Color Sensor uses reflected light to detect an object’s color, hue value, grayscale value, and proximity.
The Color Sensor located underneath Fling is used to detect if the robot drives over the black lines on the virtual field.
This can be useful when driving until a certain black line on the field is detected, or even using the number of black lines on the field to track how far Fling should drive.