v0.1.0

42124-1 - Off-Road Buggy/main.py

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