85 lines
3.9 KiB
Python
85 lines
3.9 KiB
Python
################################################################################
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# #
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# pybricks script for DAKAR / TRIAL Truck 42114 B alternate model / Zetros #
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# killer by RM8 LEGO Garage - BrickGarage #
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# #
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# This script enables the LEGO® Powered Up Technic Hub to be used with the #
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# LEGO® Powerd UP 88010 Remote. #
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# #
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# Configuration of the Technic Hub: #
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# Port A: Drive motor #
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# Port B: Steering with left and right limited #
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# Port C: Drive motor #
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# Port D: Not used #
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# #
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################################################################################
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# Rebrickable: https://rebrickable.com/mocs/MOC-113177/ #
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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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# v0.0.0 26-06-2022 #
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# First version. #
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# Based on v0.0.0 22-06-2022 of 42129 B model 'Hot Trot' by Didumos #
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################################################################################
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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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steering = Motor(Port.B, Direction.CLOCKWISE)
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driving_1 = Motor(Port.A, Direction.COUNTERCLOCKWISE)
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driving_2 = Motor(Port.C, Direction.CLOCKWISE)
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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, _, _ = steering.control.pid()
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# Set new values
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steering.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 = steering.run_until_stalled(-200, then=Stop.HOLD)
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right_end = steering.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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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
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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 steering angle based on the right controls.
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if Button.RIGHT_MINUS in pressed:
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steering.run_target(1400, -steer_angle, Stop.HOLD, False)
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elif Button.RIGHT_PLUS 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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# Choose the drive speed based on the left controls.
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if Button.LEFT_MINUS in pressed:
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driving_1.dc(100)
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driving_2.dc(100)
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elif Button.LEFT_PLUS in pressed:
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driving_1.dc(-100)
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driving_2.dc(-100)
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else:
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driving_1.dc(0)
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driving_2.dc(0)
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# Wait.
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wait(10) |