v0.1.0
This commit is contained in:
@@ -12,13 +12,19 @@
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# Port D: Not used #
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# #
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################################################################################
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# Script base: https://racingbrick.com/2021/08/remote-control-for-control-sets #
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# -without-an-app-or-smartphone-pybricks/ #
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################################################################################
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# #
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# Changelog #
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# #
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################################################################################
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# v0.1.0 05-07-2022 #
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# restructured to the version at pybricks-projects on Github #
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# https://github.com/pybricks/pybricks-projects/blob/master/sets/technic/ #
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# 42124-off-road-buggy/powered-up-remote/main.py #
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# Changed gearbox part. #
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# Button left can only shift down #
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# Button right can only shift up #
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# New variables to easily change the number of gears #
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# Added battery indicator with hub LED. #
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# v0.0.0 04-07-2022 #
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# First version. #
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# Based on v0.2.0 02-07-2022 of 42109-1 - App-Controlled Top Gear Rally Car #
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@@ -26,15 +32,19 @@
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from pybricks.pupdevices import Motor, Remote
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from pybricks.parameters import Port, Direction, Stop, Button, Color
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from pybricks.hubs import TechnicHub
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from pybricks.tools import wait
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# Initialize the motors.
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steering = Motor(Port.B)
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steering = Motor(Port.B, Direction.CLOCKWISE)
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driving = Motor(Port.A, Direction.COUNTERCLOCKWISE)
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# Connect to the remote.
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remote = Remote()
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# Initialize the hub.
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hub = TechnicHub()
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# Read the current settings
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old_kp, old_ki, old_kd, _, _ = steering.control.pid()
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@@ -51,73 +61,84 @@ right_end = steering.run_until_stalled(200, then=Stop.HOLD)
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steering.reset_angle((right_end - left_end)/2)
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steering.run_target(speed=200, target_angle=0, wait=False)
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# Set steering angle for the buggy
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steer_angle = (((right_end - left_end)/2)-5)
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# Set steering angle
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steering_angle = (((right_end - left_end)/2)-5)
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# Set variable for gear
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gear_old = 1
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gear = 1
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speed = 33
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gear_total = 3 # Total number of gears.
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gear_old = None # Empty variable to set later on (keep
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# empty!).
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gear = 1 # Gear at start (must be higher than 0 and
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# lower or eaqual to gear_total).
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gear_color = ["BLUE", "WHITE", "RED"] # Number of colors should at least be
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# equal to gear_total.
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# Battery variables
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voltage_current = hub.battery.voltage()
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voltage = voltage_current
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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 right middle button is pressed to change gear
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if Button.RIGHT in pressed:
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if gear_old is 1:
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gear = 2
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elif gear_old is 2:
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gear = 3
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else:
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gear = 1
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while Button.RIGHT 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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# Choose the steering angle based on the right controls.
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if Button.RIGHT_PLUS in pressed:
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steering.run_target(1400, -steering_angle, Stop.HOLD, False)
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elif Button.RIGHT_MINUS in pressed:
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steering.run_target(1400, steering_angle, Stop.HOLD, False)
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else:
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steering.track_target(0)
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# Check if the left middle button is pressed to change gear
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if Button.LEFT in pressed:
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if gear_old is 3:
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gear = 2
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elif gear_old is 2:
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gear = 1
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else:
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gear = 3
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if gear_old > 1:
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gear -= 1
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while Button.LEFT 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 gear is not gear_old:
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if gear is 1:
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remote.light.on(Color.BLUE)
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speed = 33
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gear_old = 1
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elif gear is 2:
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remote.light.on(Color.WHITE)
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speed = 67
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gear_old = 2
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else:
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remote.light.on(Color.RED)
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speed = 100
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gear_old = 3
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# Check if the right middle button is pressed to change gear
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if Button.RIGHT in pressed:
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if gear_old < gear_total:
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gear += 1
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while Button.RIGHT 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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# Choose the steering angle based on the right controls.
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if Button.RIGHT_PLUS in pressed:
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steering.run_target(1400, -steer_angle, Stop.HOLD, False)
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elif Button.RIGHT_MINUS in pressed:
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steering.run_target(1400, steer_angle, Stop.HOLD, False)
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else:
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steering.track_target(0)
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# Set speed according to the choosen gear.
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if gear is not gear_old:
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remote.light.on(Color[gear_color[gear-1]])
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speed = (100/gear_total)*gear
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gear_old = gear
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# Choose the drive speed based on the left controls.
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drive_speed = 0
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if Button.LEFT_PLUS in pressed:
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driving.dc(speed)
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drive_speed += speed
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elif Button.LEFT_MINUS in pressed:
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driving.dc(-speed)
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drive_speed -= speed
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# Apply the selected speed.
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driving.dc(drive_speed)
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# Show battery status by hub LED.
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# Get current voltage and gradually up or down the value.
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voltage_current = hub.battery.voltage()
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if voltage_current < voltage:
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voltage -= 1
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elif voltage_current > voltage:
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voltage += 1
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# Show the correct color.
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if voltage > 9000:
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hub.light.on(Color.GREEN)
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elif voltage > 8100:
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hub.light.on(Color.YELLOW)
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elif voltage > 7200:
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hub.light.on(Color.ORANGE)
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else:
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driving.dc(0)
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hub.light.on(Color.RED)
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# Wait.
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wait(10)
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