dji RoboMaster EP Operating instructions

SCRATCH
PROGRAMMING GUIDE

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Catalog
(Click on the chapter title and jump to the corresponding page)
Brief Introduction............................................................................................................................................................................2
System................................................................................................................................................................................................3
LED Effects ....................................................................................................................................................................................13
Chassis.............................................................................................................................................................................................16
Extension Module..........................................................................................................................................................................39
Smart ................................................................................................................................................................................................50
Armor...............................................................................................................................................................................................77
Sensor...............................................................................................................................................................................................82
Sensor Adaptor...............................................................................................................................................................................87
Mobile Device................................................................................................................................................................................93
Media................................................................................................................................................................................................94
Commands ................................................................................................................................................................................... 101
Operators...................................................................................................................................................................................... 107
Data Objects................................................................................................................................................................................. 124
Functions...................................................................................................................................................................................... 150

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Brief Introduction
The RoboMaster EP CORE programming guide is designed to help new users quickly learn programming techniques for
controlling the EP CORE.
The RoboMaster lab offers hundreds of graphical programming blocks that allow you to access specific features like EP
CORE’s PID control, intelligent identification and more. While at first this may be challenging for beginners unfamiliar
with robots or basic programming, this guide includes instructions and example programs for each block to help build new
users’ skills from nothing.
It is suggested to first read through the guide to gain a basic understanding of robotic programming. Afterward, you can refer to it
for help with any questions or challenges you encounter while programming. We hope you find this resource helpful to improving
your programming skills, making the most of each block, and learning new ways to win.
1. Block types
The RoboMaster EP CORE programming lab offers five block types:
Block Type
Description
Block Example
Settings
Set parameters, such as speed, frequency, quantity and more.
Execution
Control EP CORE to execute specified commands
Event
Main function will pop out and begin to run programs included in
event blocks when certain conditional statements are met
Information
Returning different types of obtained data such as variables, lists
and more
Conditional
Statement
Execute specified commands when conditional statements are met
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2. Blocking & non-blocking blocks
Block Type
Description
Block Example
Blocking
Follow-up commands will not
be executed before blocking
blocks stop running
Non-blocking
Follow-up commands can be
executed when non- blocking
blocks are running
System
1. Start
(1) Description: Set the first program executed when the robot powers on
(2) Type: Embedded block
(3) Example: Move forward 1 meter
This will control the RoboMaster EP CORE to move forward by 1 meter.
Note:
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If blocks (other than event triggering blocks and function blocks) are not placed within the “Start” area, they will not be
executed. For example, in the program shown below, the RoboMaster EP CORE will not be able to take a photo.
Python API:
Function: start( )
Type: Main function
2. Timer (start) timing
(1) Description: Start, pause, or stop the timer
(2) Type: Execution block
(3) Example: Time a rotation
This measures the time it takes the chassis to complete one full rotation.
You can check details using the FPV window:

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Notes:
1) Selecting “Pause” will hold the time currently displayed on the timer. The timer will resume measurement from this
time when it starts again. Refer to the example below in which t1=2 and t2=5.
2) Select “Stop” to stop the timing process. The previously recorded time will be deleted, and the timer will begin
measurement from zero when it starts again. Refer to the example below in which t1=2 and t2=0.

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Python API:
Function: tools.timer_ctrl(behavior_enum)
Parameters:
● behavior_enum(enum):
■ rm_define.timer_start
■ rm_define.timer_stop
■ rm_define.timer_reset
3. Set camera magnification to (1)
(1) Description: Apply higher magnifications to support visual recognition over longer distances, enabling the robot to
focus on unclear objects more accurately
(2) Type: Execution block
(3) Example: Enlarge camera frame
Place a Vision Marker 10 meters in front of the robot’s gimbal and set the camera magnification to 4; the robot will now be
able to accurately recognize the Vision Marker at this distance.
Before running the enlarge camera frame program:

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After enlarging the camera frame:
Python API:
Function: media_ctrl.zoom_value_update(value)
Parameters:
● value (int): [1, 4]

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4. Timer time
(1) Description: Obtain the total time elapsed from when the timer first started to the current time (in seconds)
(2) Type: Information block (variable-type data)
(3) Example: Time a rotation
This uses variables to measure the time it takes the chassis to complete one full rotation.
You can check details using the FPV window:
Python API:
Function: tools.timer_current( )
Return value:
● time_stamp(float)

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5. Program runtime
(1) Description: Obtain the program running time (in seconds)
(2) Type: Information block (variable-type data)
(3) Example: Calculate program runtime
This obtains the program running time using variables. You can check specific details using the FPV window:
Python API:
Function: tools.run_time_of_program( )
Return value:
●time (float)