v0.0.0

2022-06-20 10:27:56 +02:00
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+################################################################################
+#                                                                              #
+#             pybricks script for 42099 B model 'Rocky' by Didumos             #
+#                                                                              #
+# 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: Drive motor                                                        #
+#   Port C: Steering with left and right limited                               #
+#   Port D: Not used                                                           #
+#                                                                              #
+################################################################################
+# Rebrickable: https://rebrickable.com/mocs/MOC-30630                          #
+# Script base: https://racingbrick.com/2021/08/remote-control-for-control-sets #
+#                -without-an-app-or-smartphone-pybricks/                       #
+################################################################################
+#                                                                              #
+#                                   Changelog                                  #
+#                                                                              #
+################################################################################
+# v0.0.0 20-06-2022                                                            #
+#   First version.                                                             #
+#   Based on v0.0.0 20-06-2022 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.C, Direction.COUNTERCLOCKWISE)
+driving_1 = Motor(Port.A, Direction.CLOCKWISE)
+driving_2 = Motor(Port.B, 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)