Update to use more loops
This commit is contained in:
+122
-147
@@ -1,60 +1,57 @@
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################################################################################
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# #
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# pybricks script for Motorized 4531 Manual Points #
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# #
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# This script enables the LEGO® Powered Up Technic Hub to be used with the #
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# LEGO® Powerd UP 88010 Remote in conjunction with the 4531 Manual Points #
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# #
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# Configuration of the Technic Hub: #
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# Port A: Track switch with left and right limited [optional #
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# Port B: Track switch with left and right limited [optional #
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# Port C: Track switch with left and right limited [optional #
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# Port D: Track switch with left and right limited [optional #
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# #
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################################################################################
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# Initial idea for the hardware: https://youtu.be/qWDMIOtVFSY #
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################################################################################
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# LEGO® is a trademark of the LEGO Group of companies which does not sponsor, #
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# authorize or endorse this project. #
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################################################################################
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from pybricks.hubs import TechnicHub
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from pybricks.pupdevices import Motor, Remote
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from pybricks.parameters import Port, Direction, Stop, Button
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from pybricks.tools import wait
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from uerrno import ENODEV
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hub = TechnicHub()
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# Variables
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used_ports = ["A", "B", "C", "D"] # Port names
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track_switch = [0, 0, 0, 0] # Variable to initialize track switch
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track_switch_left_end = [0, 0, 0, 0] # Left angle of switch track
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track_switch_right_end = [0, 0, 0, 0] # Right angle of switch track
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track_switch_angle = [0, 0, 0, 0] # Delta angle of switch track
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switch_track_switch = [0, 0, 0, 0] # Will be set to 1 if track switch should be switched
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track_switch = [0, 0, 0, 0]
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track_switch_present = [0, 0, 0, 0]
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track_switch_left_end = [0, 0, 0, 0]
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track_switch_right_end = [0, 0, 0, 0]
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track_switch_angle = [0, 0 ,0 ,0]
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try:
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# Try to initialize a motor.
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track_switch[0] = Motor(Port.A, Direction.CLOCKWISE)
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track_switch_present[0] = 1
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print("Detected a motor on port A.")
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except OSError as ex:
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if ex.errno == ENODEV:
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print("There is no motor on port B.")
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else:
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print("Another error occurred.")
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try:
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# Try to initialize a motor.
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track_switch[1] = Motor(Port.B, Direction.CLOCKWISE)
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track_switch_present[1] = 1
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print("Detected a motor on port B.")
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except OSError as ex:
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if ex.errno == ENODEV:
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print("There is no motor on port B.")
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else:
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print("Another error occurred.")
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try:
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# Try to initialize a motor.
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track_switch[2] = Motor(Port.C, Direction.CLOCKWISE)
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track_switch_present[2] = 1
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print("Detected a motor on port C.")
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except OSError as ex:
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if ex.errno == ENODEV:
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print("There is no motor on port C.")
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else:
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print("Another error occurred.")
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try:
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# Try to initialize a motor.
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track_switch[3] = Motor(Port.D, Direction.CLOCKWISE)
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track_switch_present[3] = 1
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print("Detected a motor on port D.")
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except OSError as ex:
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if ex.errno == ENODEV:
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print("There is no motor on port D.")
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else:
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print("Another error occurred.")
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# Test which port(s) have a motor connected.
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x = 0
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while x < 4:
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try:
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if x == 0:
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track_switch[x] = Motor(Port.A, Direction.CLOCKWISE)
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elif x == 1:
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track_switch[x] = Motor(Port.B, Direction.CLOCKWISE)
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elif x == 2:
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track_switch[x] = Motor(Port.C, Direction.CLOCKWISE)
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elif x == 3:
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track_switch[x] = Motor(Port.D, Direction.CLOCKWISE)
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print("Detected a motor on port " + used_ports[x] + ".")
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# if no motor is connected catch the error so the program wont stop.
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except OSError as ex:
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if ex.errno == ENODEV:
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print("There is no motor on port " + used_ports[x] + ".")
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else:
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print("An error occurred on port " + used_ports[x] + ".")
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x = x + 1
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# Connect to the remote.
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remote = Remote()
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@@ -62,134 +59,112 @@ remote = Remote()
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# Initialize the hub.
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hub = TechnicHub()
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# Find the switch track angles.
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x = 0
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while x < 4:
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if track_switch_present[x] == 1:
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# Find the steering endpoint on the left and right.
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if track_switch[x] != 0:
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# Find the endpoint on the left and right.
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# The middle is in between.
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track_switch_left_end[x] = track_switch[x].run_until_stalled(-200, then=Stop.HOLD)
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track_switch_right_end[x] = track_switch[x].run_until_stalled(200, then=Stop.HOLD)
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track_switch_left_end[x] = track_switch[x].run_until_stalled(
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-200, then=Stop.HOLD
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)
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track_switch_right_end[x] = track_switch[x].run_until_stalled(
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200, then=Stop.HOLD
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)
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# We are now at the right. Reset this angle to be half the difference.
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# That puts zero in the middle.
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track_switch[x].reset_angle((track_switch_right_end[x] - track_switch_left_end[x])/2)
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# Set steering angle
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track_switch_angle[x] = (((track_switch_right_end[x] - track_switch_left_end[x])/2)-5)
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track_switch[x].reset_angle(
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(track_switch_right_end[x] - track_switch_left_end[x]) / 2
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)
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# Set angle
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track_switch_angle[x] = (
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(track_switch_right_end[x] - track_switch_left_end[x]) / 2
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) - 5
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track_switch[x].run_target(200, -track_switch_angle[x], Stop.COAST, False)
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x = x + 1
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# Main program.
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while True:
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# Check which buttons are pressed.
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pressed = remote.buttons.pressed()
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# Check if the left middle button is pressed to change gear
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if track_switch_present[0] == 1:
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if Button.LEFT_PLUS in pressed:
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while Button.LEFT_PLUS in pressed:
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# Button debounce
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wait(10)
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pressed = remote.buttons.pressed()
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if track_switch[0].angle() > 0:
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track_switch[0].run_target(200, -track_switch_angle[0], Stop.COAST, False)
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else:
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track_switch[0].run_target(200, track_switch_angle[0], Stop.COAST, False)
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# Check if the left plus button is pressed to change switch track(s)
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if Button.LEFT_PLUS in pressed:
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while Button.LEFT_PLUS in pressed:
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# Button debounce
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wait(10)
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pressed = remote.buttons.pressed()
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switch_track_switch = [1, 0, 0, 0]
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if track_switch_present[1] == 1:
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# Check if the left middle button is pressed to change gear
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if Button.LEFT_MINUS in pressed:
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while Button.LEFT_MINUS in pressed:
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# Button debounce
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wait(10)
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pressed = remote.buttons.pressed()
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if track_switch[1].angle() > 0:
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track_switch[1].run_target(200, -track_switch_angle[1], Stop.COAST, False)
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else:
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track_switch[1].run_target(200, track_switch_angle[1], Stop.COAST, False)
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# Check if the left minus button is pressed to change switch track(s)
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if Button.LEFT_MINUS in pressed:
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while Button.LEFT_MINUS in pressed:
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# Button debounce
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wait(10)
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pressed = remote.buttons.pressed()
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switch_track_switch = [0, 1, 0, 0]
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# Check if the left middle button is pressed to change gear
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# Check if the left middle button is pressed to change switch track(s)
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if Button.LEFT in pressed:
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while Button.LEFT in pressed:
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# Button debounce
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# Button debounce
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wait(10)
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pressed = remote.buttons.pressed()
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if track_switch_present[0] == 1:
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if track_switch[0].angle() > 0:
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track_switch[0].run_target(200, -track_switch_angle[0], Stop.COAST, False)
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else:
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track_switch[0].run_target(200, track_switch_angle[0], Stop.COAST, False)
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if track_switch_present[1] == 1:
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if track_switch[1].angle() > 0:
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track_switch[1].run_target(200, -track_switch_angle[1], Stop.COAST, False)
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else:
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track_switch[1].run_target(200, track_switch_angle[1], Stop.COAST, False)
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switch_track_switch = [1, 1, 0, 0]
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if track_switch_present[2] == 1:
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# Check if the left middle button is pressed to change gear
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if Button.RIGHT_PLUS in pressed:
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while Button.RIGHT_PLUS in pressed:
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# Button debounce
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wait(10)
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pressed = remote.buttons.pressed()
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if track_switch[2].angle() > 0:
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track_switch[2].run_target(200, -track_switch_angle[2], Stop.COAST, False)
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else:
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track_switch[2].run_target(200, track_switch_angle[2], Stop.COAST, False)
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# Check if the right plus button is pressed to change switch track(s)
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if Button.RIGHT_PLUS in pressed:
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while Button.RIGHT_PLUS in pressed:
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# Button debounce
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wait(10)
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pressed = remote.buttons.pressed()
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switch_track_switch = [0, 0, 1, 0]
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if track_switch_present[3] == 1:
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# Check if the left middle button is pressed to change gear
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if Button.RIGHT_MINUS in pressed:
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while Button.RIGHT_MINUS in pressed:
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# Button debounce
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wait(10)
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pressed = remote.buttons.pressed()
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if track_switch[3].angle() > 0:
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track_switch[3].run_target(200, -track_switch_angle[3], Stop.COAST, False)
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else:
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track_switch[3].run_target(200, track_switch_angle[3], Stop.COAST, False)
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# Check if the right minus button is pressed to change switch track(s)
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if Button.RIGHT_MINUS in pressed:
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while Button.RIGHT_MINUS in pressed:
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# Button debounce
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wait(10)
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pressed = remote.buttons.pressed()
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switch_track_switch = [0, 0, 0, 1]
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# Check if the left middle button is pressed to change gear
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# Check if the lerightft middle button is pressed to change switch track(s)
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if Button.RIGHT in pressed:
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while Button.RIGHT in pressed:
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# Button debounce
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# Button debounce
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wait(10)
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pressed = remote.buttons.pressed()
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if track_switch_present[2] == 1:
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if track_switch[2].angle() > 0:
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track_switch[2].run_target(200, -track_switch_angle[2], Stop.COAST, False)
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else:
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track_switch[2].run_target(200, track_switch_angle[2], Stop.COAST, False)
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if track_switch_present[3] == 1:
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if track_switch[3].angle() > 0:
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track_switch[3].run_target(200, -track_switch_angle[3], Stop.COAST, False)
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else:
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track_switch[3].run_target(200, track_switch_angle[3], Stop.COAST, False)
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switch_track_switch = [0, 0, 1, 1]
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# Check if the left middle button is pressed to change gear
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# Check if the center button is pressed to change switch track(s)
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if Button.CENTER in pressed:
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while Button.CENTER in pressed:
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# Button debounce
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# Button debounce
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wait(10)
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pressed = remote.buttons.pressed()
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if track_switch_present[0] == 1:
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if track_switch[0].angle() > 0:
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track_switch[0].run_target(200, -track_switch_angle[0], Stop.COAST, False)
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else:
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track_switch[0].run_target(200, track_switch_angle[0], Stop.COAST, False)
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if track_switch_present[1] == 1:
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if track_switch[1].angle() > 0:
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track_switch[1].run_target(200, -track_switch_angle[1], Stop.COAST, False)
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else:
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track_switch[1].run_target(200, track_switch_angle[1], Stop.COAST, False)
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if track_switch_present[2] == 1:
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if track_switch[2].angle() > 0:
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track_switch[2].run_target(200, -track_switch_angle[2], Stop.COAST, False)
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else:
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track_switch[2].run_target(200, track_switch_angle[2], Stop.COAST, False)
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if track_switch_present[3] == 1:
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if track_switch[3].angle() > 0:
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track_switch[3].run_target(200, -track_switch_angle[3], Stop.COAST, False)
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else:
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track_switch[3].run_target(200, track_switch_angle[3], Stop.COAST, False)
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switch_track_switch = [1, 1, 1, 1]
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# Change the actual switch tracks
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x = 0
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while x < 4:
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# Check is switch track should be switched
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if switch_track_switch[x] == 1:
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# Check if the switch track to change is actually present as tested
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# during initialization.
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if track_switch[x] != 0:
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# Check the current position of the switch track so that if the
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# switch was switched manually it will still be switched.
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if track_switch[x].angle() > 0:
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track_switch[x].run_target(
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200, -track_switch_angle[x], Stop.COAST, False
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)
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else:
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track_switch[x].run_target(
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200, track_switch_angle[x], Stop.COAST, False
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)
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switch_track_switch[x] = 0
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x = x + 1
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# Wait.
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wait(10)
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