dji RoboMaster EP Operating instructions

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The RoboMaster EP programming guide is designed to help new users quickly learn programming
techniques for controlling the EP.
The RoboMaster lab offers hundreds of graphical programming blocks that allow you to access features like
PID control, computer vision, 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
new users develop their skills. We suggest first reading through the guide to gain a basic understanding of
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.
The RoboMaster EP programming lab offers five block types:
Block Type
Description
Block Example
Settings
Set parameters, such as speed, frequency, quantity
and more.
Execution
Control RoboMaster EP
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.
Description
Block Example
Blcoking
Follow-up commands will not be executed before
blocking blocks stop running. A "wait for xx" block is
a typical blocking block.
Non-
blocking
Follow-up commands can be executed when non-
blocking blocks are running.
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(1) Objective: Sets the first program executed when the robot powers on
(2) Type: Embedded block
(3) Example: Move forward 1 meter
This will control the EP to move forward by 1 meter.
Note:
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 EP will not be able to take a photo.
Python API：
Function: start()
Type: Main function
(1) Objective: Sets the travel mode
●Chassis Lead Mode: The gimbal follows the chassis to rotate along the yaw axis.
●Gimbal Lead Mode: The chassis follows the gimbal to rotate along the yaw axis.
●Free Mode: The gimbal and the chassis move without affecting each other.
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(2) Type: Settings block
(3) Examples: Rotate with variable speeds, Rotate together, Rotate contra directionally
① Rotate with variable speeds
In Chassis Lead Mode, you will only set parameters for the chassis. When the chassis is rotating to the left or
right with variable rotation speeds, check that the gimbal continuously follows the chassis and that the angle
between the gimbal and the chassis front is zero when chassis motion stops.
Note:
1) Chassis Lead Mode is the robot’s default travel mode.
2) In Chassis Lead Mode, if the chassis is not rotating, the gimbal will not be able to rotate left or right on its
own.
② Rotate together
In Gimbal Lead Mode, you will only set parameters for the gimbal.
When the gimbal is rotating along the yaw axis, check that the chassis also moves left and right and that it
follows the gimbal to return to the original position.

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Note:
In Gimbal Lead Mode, if the gimbal is not rotating, the chassis will not be able to rotate left or right on its
own.
③ Rotate contra directionally
In Free Mode, the gimbal and the chassis rotate in opposite directions. In this mode, you will need to check
whether the gimbal and the chassis are interfering with each other’s motion.
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In free mode, the "set chassis to follow gimbal at (0) ° "and “set gimbal to follow chassis at (0)° ”blocks will not
be able to take effect.
Python API:
Function: robot.set_mode(mode_enum)
Parameters:
●mode_enum(enum)
■ rm_define.robot_mode_gimbal_follow
■ rm_define.robot_mode_chassis_follow
■ rm_define.robot_mode_free
(1) Objective: Starts, pauses, or stops 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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Note:
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. You can 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
(1) Objective: Applies 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.

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Before running the enlarge camera frame program:
After enlarging the camera frame: