From 1b8a030d113e4ee1a9cf7f07c6efbaa4da1fc7ff Mon Sep 17 00:00:00 2001
From: Michel <michelbats@gmail.com>
Date: Sat, 7 May 2022 15:32:43 +0200
Subject: [PATCH] v0.0.0

---
 42124-1 - Off-Road Buggy/main.py | 123 +++++++++++++++++++++++++++++++
 1 file changed, 123 insertions(+)
 create mode 100644 42124-1 - Off-Road Buggy/main.py

diff --git a/42124-1 - Off-Road Buggy/main.py b/42124-1 - Off-Road Buggy/main.py
new file mode 100644
index 0000000..46c88e9
--- /dev/null
+++ b/42124-1 - Off-Road Buggy/main.py	
@@ -0,0 +1,123 @@
+################################################################################
+#                                                                              #
+#                 pybricks script for 42124-1 - Off-Road Buggy                 #
+#                                                                              #
+# This script enables the LEGO® Powered Up Technic Hub to be used with the     #
+# LEGO® Powerd UP 88010 Remote.                                                #
+#                                                                              #
+# Configuration of the Technic Hub:                                            #
+#   Port A: Drive motor                                                        #
+#   Port B: Steering with left and right limited                               #
+#   Port C: Not used                                                           #
+#   Port D: Not used                                                           #
+#                                                                              #
+################################################################################
+# Script base: https://racingbrick.com/2021/08/remote-control-for-control-sets #
+#                -without-an-app-or-smartphone-pybricks/                       #
+################################################################################
+#                                                                              #
+#                                   Changelog                                  #
+#                                                                              #
+################################################################################
+# v0.0.0 04-07-2022                                                            #
+#   First version.                                                             #
+#   Based on v0.2.0 02-07-2022 of 42109-1 - App-Controlled Top Gear Rally Car  #
+################################################################################
+
+from pybricks.pupdevices import Motor, Remote
+from pybricks.parameters import Port, Direction, Stop, Button, Color
+from pybricks.tools import wait
+
+# Initialize the motors.
+steering = Motor(Port.B)
+driving = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+
+# Connect to the remote.
+remote = Remote()
+
+# 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)
+right_end = steering.run_until_stalled(200, then=Stop.HOLD)
+
+# We are now at the right. Reset this angle to be half the difference.
+# That puts zero in the middle.
+steering.reset_angle((right_end - left_end)/2)
+steering.run_target(speed=200, target_angle=0, wait=False)
+
+# Set steering angle for the buggy
+steer_angle = (((right_end - left_end)/2)-5)
+
+# Set variable for gear
+gear_old = 1
+gear = 1
+speed = 33
+
+while True:
+    # Check which buttons are pressed.
+    pressed = remote.buttons.pressed()
+
+    # Check if the right middle button is pressed to change gear
+    if Button.RIGHT in pressed:
+        if gear_old is 1:
+            gear = 2
+        elif gear_old is 2:
+            gear = 3
+        else:
+            gear = 1
+        while Button.RIGHT in pressed:
+            # Button debounce 
+            wait(10)
+            pressed = remote.buttons.pressed()
+
+    # Check if the left middle button is pressed to change gear
+    if Button.LEFT in pressed:
+        if gear_old is 3:
+            gear = 2
+        elif gear_old is 2:
+            gear = 1
+        else:
+            gear = 3
+        while Button.LEFT in pressed:
+            # Button debounce 
+            wait(10)
+            pressed = remote.buttons.pressed()
+
+    if gear is not gear_old:
+        if gear is 1:
+            remote.light.on(Color.BLUE)
+            speed = 33
+            gear_old = 1
+        elif gear is 2:
+            remote.light.on(Color.WHITE)
+            speed = 67
+            gear_old = 2
+        else:
+            remote.light.on(Color.RED)
+            speed = 100
+            gear_old = 3
+
+    # Choose the steering angle based on the right controls.
+    if Button.RIGHT_PLUS in pressed:
+        steering.run_target(1400, -steer_angle, Stop.HOLD, False)
+    elif Button.RIGHT_MINUS in pressed:
+        steering.run_target(1400, steer_angle, Stop.HOLD, False)
+    else:
+        steering.track_target(0)
+
+    # Choose the drive speed based on the left controls.
+    if Button.LEFT_PLUS in pressed:
+        driving.dc(speed)
+    elif Button.LEFT_MINUS in pressed:
+        driving.dc(-speed)
+    else:
+        driving.dc(0)
+
+    # Wait.
+    wait(10)