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Removed PID settings, changed to 2 button gearbox

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Michel
2023-10-20 23:18:18 +02:00
parent cbf1e8fba4
commit 14219f2b1e
1 changed files with 14 additions and 16 deletions
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Technic RC Renault T480 4x2 by verdigris (MOC-106368)/main.py
+14 -16
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@@ -12,13 +12,10 @@
# Port D: Not used #
# #
################################################################################
# #
# Changelog #
# #
# Rebrickable: https://rebrickable.com/mocs/MOC-106368/ #
################################################################################
# v0.0.0 25-09-2022 #
# First version. #
# Based on v0.0.0 21-08-2022 of Western Star 6900 TwinSteer by Nico71 #
# LEGO® is a trademark of the LEGO Group of companies which does not sponsor, #
# authorize or endorse this project. #
################################################################################
from pybricks.pupdevices import Motor, Remote
@@ -37,12 +34,6 @@ remote = Remote()
# Initialize the hub.
hub = TechnicHub()
# Read the current settings
old_kp, old_ki, old_kd, _, _ = steering.control.pid()
# Set new values
steering.control.pid(kp=old_kp*4, kd=old_kd*0.4)
# Find the steering endpoint on the left and right.
# The middle is in between.
left_end = steering.run_until_stalled(-200, then=Stop.HOLD)
@@ -81,13 +72,20 @@ while True:
else:
steering.track_target(0)
# Check if the left middle button is pressed to change gear
if Button.LEFT in pressed:
if gear_old > 1:
gear -= 1
while Button.LEFT in pressed:
# Button debounce
wait(10)
pressed = remote.buttons.pressed()
# Check if the right middle button is pressed to change gear
if Button.CENTER in pressed:
if Button.RIGHT in pressed:
if gear_old < gear_total:
gear += 1
else:
gear = 1
while Button.CENTER in pressed:
while Button.RIGHT in pressed:
# Button debounce
wait(10)
pressed = remote.buttons.pressed()