From dfdf527e0158e97aec5e87b0995d4a7764ec22ec Mon Sep 17 00:00:00 2001
From: Michel <michelbats@gmail.com>
Date: Sun, 26 Jun 2022 11:39:38 +0200
Subject: [PATCH] v0.0.0

---
 .../main.py                                   | 85 +++++++++++++++++++
 1 file changed, 85 insertions(+)
 create mode 100644 DAKAR  TRIAL Truck 42114 B alternate model  Zetros killer by RM8 LEGO Garage - BrickGarage (MOC-113177)/main.py

diff --git a/DAKAR  TRIAL Truck 42114 B alternate model  Zetros killer by RM8 LEGO Garage - BrickGarage (MOC-113177)/main.py b/DAKAR  TRIAL Truck 42114 B alternate model  Zetros killer by RM8 LEGO Garage - BrickGarage (MOC-113177)/main.py
new file mode 100644
index 0000000..ad6911c
--- /dev/null
+++ b/DAKAR  TRIAL Truck 42114 B alternate model  Zetros killer by RM8 LEGO Garage - BrickGarage (MOC-113177)/main.py	
@@ -0,0 +1,85 @@
+################################################################################
+#                                                                              #
+#   pybricks script for DAKAR / TRIAL Truck 42114 B alternate model / Zetros   #
+#                   killer by RM8 LEGO Garage - BrickGarage                    #
+#                                                                              #
+# 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: Drive motor                                                        #
+#   Port D: Not used                                                           #
+#                                                                              #
+################################################################################
+# Rebrickable: https://rebrickable.com/mocs/MOC-113177/                        #
+# Script base: https://racingbrick.com/2021/08/remote-control-for-control-sets #
+#                -without-an-app-or-smartphone-pybricks/                       #
+################################################################################
+#                                                                              #
+#                                   Changelog                                  #
+#                                                                              #
+################################################################################
+# v0.0.0 26-06-2022                                                            #
+#   First version.                                                             #
+#   Based on v0.0.0 22-06-2022 of 42129 B model 'Hot Trot' by Didumos          #
+################################################################################
+
+from pybricks.pupdevices import Motor, Remote
+from pybricks.parameters import Port, Direction, Stop, Button
+from pybricks.tools import wait
+
+# Initialize the motors.
+steering = Motor(Port.B, Direction.CLOCKWISE)
+driving_1 = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+driving_2 = Motor(Port.C, Direction.CLOCKWISE)
+
+# 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
+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 steering angle based on the right controls.
+    if Button.RIGHT_MINUS in pressed:
+        steering.run_target(1400, -steer_angle, Stop.HOLD, False)
+    elif Button.RIGHT_PLUS 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_MINUS in pressed:
+        driving_1.dc(100)
+        driving_2.dc(100)
+    elif Button.LEFT_PLUS in pressed:
+        driving_1.dc(-100)
+        driving_2.dc(-100)
+    else:
+        driving_1.dc(0)
+        driving_2.dc(0)
+
+    # Wait.
+    wait(10)
\ No newline at end of file