v0.0.0

42109-1 - App-Controlled Top Gear Rally Car/main.py

@@ -0,0 +1,56 @@
+from pybricks.pupdevices import Motor, Remote
+from pybricks.parameters import Port, Direction, Stop, Button
+from pybricks.tools import wait
+
+# Initialize the motors.
+steer = Motor(Port.B)
+front = Motor(Port.D, Direction.COUNTERCLOCKWISE)
+
+# Connect to the remote.
+remote = Remote()
+
+# Read the current settings
+old_kp, old_ki, old_kd, _, _ = steer.control.pid()
+
+# Set new values
+steer.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 = steer.run_until_stalled(-200, then=Stop.HOLD)
+right_end = steer.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.
+steer.reset_angle((right_end - left_end)/2)
+steer.run_target(speed=200, target_angle=0, wait=False)
+
+# Set steering angle for the buggy
+steer_angle = (((right_end - left_end)/2)-5)
+print('steer angle:',steer_angle)
+
+while True:
+    # Check which buttons are pressed.
+    pressed = remote.buttons.pressed()
+
+    # Choose the steer angle based on the right controls.
+
+    if Button.RIGHT_MINUS in pressed:
+        steer.run_target(1400, -steer_angle, Stop.HOLD, False)
+    elif Button.RIGHT_PLUS in pressed:
+        steer.run_target(1400, steer_angle, Stop.HOLD, False)
+    else:
+        steer.track_target(0)
+
+    # Choose the drive speed based on the left controls.
+    drive_speed = 0
+    if Button.LEFT_MINUS in pressed:
+        drive_speed += 100
+    if Button.LEFT_PLUS in pressed:
+        drive_speed -= 100
+
+    # Apply the selected speed.
+    front.dc(drive_speed)
+
+    # Wait.
+    wait(10)