56 lines
1.6 KiB
Python
56 lines
1.6 KiB
Python
from pybricks.pupdevices import Motor, Remote
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from pybricks.parameters import Port, Direction, Stop, Button
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from pybricks.tools import wait
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# Initialize the motors.
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steer = Motor(Port.B)
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front = Motor(Port.D, Direction.COUNTERCLOCKWISE)
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# Connect to the remote.
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remote = Remote()
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# Read the current settings
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old_kp, old_ki, old_kd, _, _ = steer.control.pid()
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# Set new values
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steer.control.pid(kp=old_kp*4, kd=old_kd*0.4)
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# Find the steering endpoint on the left and right.
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# The middle is in between.
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left_end = steer.run_until_stalled(-200, then=Stop.HOLD)
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right_end = steer.run_until_stalled(200, then=Stop.HOLD)
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# We are now at the right. Reset this angle to be half the difference.
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# That puts zero in the middle.
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steer.reset_angle((right_end - left_end)/2)
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steer.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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print('steer angle:',steer_angle)
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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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# Choose the steer angle based on the right controls.
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if Button.RIGHT_MINUS in pressed:
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steer.run_target(1400, -steer_angle, Stop.HOLD, False)
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elif Button.RIGHT_PLUS in pressed:
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steer.run_target(1400, steer_angle, Stop.HOLD, False)
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else:
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steer.track_target(0)
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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_MINUS in pressed:
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drive_speed += 100
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if Button.LEFT_PLUS in pressed:
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drive_speed -= 100
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# Apply the selected speed.
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front.dc(drive_speed)
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# Wait.
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wait(10) |