Understanding Robot Features in VRC Virtual Skills

The robot used in VRC Virtual Skills is a virtual version of Moby, the VEX V5 Hero Bot, used for the 2021-2022 VEX Robotics Competition (VRC) Tipping Point. Virtual Moby has the same dimensions and motors as the physical Moby, but with added sensors for autonomous programming in VRC Virtual Skills. In VRC Virtual Skills, there is only one robot, and it is already preconfigured. This eliminates the need for a robot configuration, or a predetermined template project.

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The following article will cover:


Robot Controls

Moby has the following controls:

A drivetrain. This enables the “Drivetrain” category of blocks in the Toolbox of VEXcode V5 to drive and turn the robot.

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Forks that are controlled by the Fork Motors. The Forks can be raised and lowered. This allows the robot to transport and score Rings and Mobile Goals.

The Forks can be lowered using the [Spin for] block. The Forks will be fully lowered when spun down for 1700 degrees.


Robot Sensors

Virtual Moby has added sensors for autonomous programming in VRC Virtual Skills.

Inertial Sensor

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The Inertial Sensor is used with the drivetrain to allow Moby to make accurate and precise turns using the drivetrain heading.

For more information on the Inertial Sensor, view this article from the Knowledge Base.

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The drivetrain heading reports a value from 0 to 359.9 degrees, and clockwise is positive.

For more information on Moby’s heading, view this page in VRC Virtual Skills Lesson 5.

Distance Sensors

There are three Distance Sensors on Virtual Moby, one on each Fork, and one in the center of the Forks.

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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.

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The Distance Sensor on each Fork can be used to detect when a Ring, or Rings, are loaded onto the Fork; or approximately how far away the Rings are on the Field from the sensor.

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The Distance Sensor in the center of the Moby can be used to detect when a Mobile Goal is in between the Forks, or approximately how far away the Mobile Goals are on the Field from the sensor.

For more information about the V5 Distance Sensor:

Bumper Switch

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The Bumper Switch is located at the base of the Forks and can be used to determine when a Mobile Goal is in between the Forks, and is ready to be picked up.

For more information about the Bumper Switch:

Optical Sensor

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The Optical Sensor reports if an object is close to the sensor, and if so, what color that object is.

The Optical Sensor can also report the brightness and the hue value of an object in degrees.

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The Optical Sensor is located in the center of Moby, next to the Distance Sensor. It can be used to determine when a Mobile Goal is in between the Forks, and also what color that Mobile Goal is.

For more information about the Optical Sensor:

Rotation Sensor

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The Rotation Sensor can report rotational position, total rotations, and
rotation speed.

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The shaft that rotates the Fork Motors on Moby is placed through the Rotation Sensor. This sensor can be used to measure the rotational position, total rotations, and rotation speed of the Forks as they are raised and lowered.

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The rotational position when the Forks are raised is 0.0 degrees (default at the start of the project).

The rotational position when the Forks are fully lowered is 75.0 degrees.

Note: these values are different from the 1700 degrees used in the [Spin for] block to fully lower the Forks.

For more information about the V5 Rotation Sensor:

Game Positioning System (GPS) Sensor

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The GPS Sensor can report the current X and Y position of the center of rotation of Moby in millimeters or inches.

The GPS Sensor can also report the current heading in degrees.

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The GPS Sensor is located near the back of Moby, and is used to determine the robot’s position and orientation on the Field by reading the GPS Field Code Strips along the inside perimeter of the Field.

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You can use the GPS Sensor to help Moby navigate the Field by driving to specific locations using your knowledge of the Cartesian coordinate system.

Using the GPS Sensor, Moby can drive along the X or Y-axes until the value of the sensor is greater than or less than a threshold value. This allows Moby to drive using sensor feedback instead of set distances.

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Knowing the coordinates of game elements, like Mobile Goals, can also help you plan your projects in VRC Virtual Skills.

For more information on identifying location details in VRC Virtual Skills using the GPS Sensor, see this Knowledge Base article.