128 lines
4.6 KiB
Python
128 lines
4.6 KiB
Python
################################################################################
|
|
# #
|
|
# pybricks script for Western Star 6900 TwinSteer by Nico71 #
|
|
# #
|
|
# 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: Steering with left and right limited #
|
|
# Port B: Winch #
|
|
# Port C: Drive motor #
|
|
# Port D: Drive motor #
|
|
# #
|
|
################################################################################
|
|
|
|
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.A, Direction.CLOCKWISE)
|
|
driving_1 = Motor(Port.C, Direction.CLOCKWISE)
|
|
driving_2 = Motor(Port.D, Direction.CLOCKWISE)
|
|
winch = Motor(Port.B, Direction.CLOCKWISE)
|
|
|
|
# Connect to the remote.
|
|
remote = Remote()
|
|
|
|
# Initialize the hub.
|
|
hub = TechnicHub()
|
|
|
|
# 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
|
|
steering_angle = (((right_end - left_end)/2)-5)
|
|
|
|
# Set variable for gear
|
|
gear_total = 2 # Total number of gears.
|
|
gear_old = None # Empty variable to set later on (keep
|
|
# empty!).
|
|
gear = 1 # Gear at start (must be higher than 0 and
|
|
# lower or eaqual to gear_total).
|
|
gear_color = ["BLUE", "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()
|
|
|
|
# Choose the steering angle based on the right controls.
|
|
if Button.RIGHT_PLUS in pressed:
|
|
steering.run_target(1400, -steering_angle, Stop.HOLD, False)
|
|
elif Button.RIGHT_MINUS in pressed:
|
|
steering.run_target(1400, steering_angle, Stop.HOLD, False)
|
|
else:
|
|
steering.track_target(0)
|
|
|
|
# Check if the right middle button is pressed to change gear
|
|
if Button.CENTER in pressed:
|
|
if gear_old < gear_total:
|
|
gear += 1
|
|
else:
|
|
gear = 1
|
|
while Button.CENTER in pressed:
|
|
# Button debounce
|
|
wait(10)
|
|
pressed = remote.buttons.pressed()
|
|
|
|
# Set speed according to the choosen gear.
|
|
if gear is not gear_old:
|
|
remote.light.on(Color[gear_color[gear-1]])
|
|
speed = (100/gear_total)*gear
|
|
gear_old = gear
|
|
|
|
# Choose the drive speed based on the left controls.
|
|
drive_speed = 0
|
|
if Button.LEFT_PLUS in pressed:
|
|
drive_speed += speed
|
|
elif Button.LEFT_MINUS in pressed:
|
|
drive_speed -= speed
|
|
|
|
# Apply the selected speed.
|
|
driving_1.dc(drive_speed)
|
|
driving_2.dc(drive_speed)
|
|
|
|
# Choose the winch speed based on the red buttons.
|
|
winch_speed = 0
|
|
if Button.LEFT in pressed:
|
|
winch_speed = 100
|
|
elif Button.RIGHT in pressed:
|
|
winch_speed -= 100
|
|
|
|
# Apply the selected speed.
|
|
winch.dc(winch_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:
|
|
hub.light.on(Color.RED)
|
|
|
|
# Wait.
|
|
wait(10)
|