diff --git a/42100/lego4200_top_blocks.py b/42100/lego4200_top_blocks.py index e705b30..9fcd659 100644 --- a/42100/lego4200_top_blocks.py +++ b/42100/lego4200_top_blocks.py @@ -1,7 +1,7 @@ -# pybricks blocks 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from pybricks.hubs import TechnicHub from pybricks.iodevices import XboxController -from pybricks.parameters import Axis, Direction, Port +from pybricks.parameters import Axis, Button, Direction, Port from pybricks.pupdevices import Motor # Set up all devices. @@ -12,8 +12,35 @@ Bucket_motor = Motor(Port.C, Direction.CLOCKWISE) Scoop_motor = Motor(Port.D, Direction.CLOCKWISE) controller = XboxController() +# Initialize variables. +MotorL = 0 +MotorR = 0 +Turret = 0 + # The main program starts here. print('Hello, Pybricks!') while True: - top_hub.ble.broadcast([controller.triggers()[0], controller.triggers()[1], controller.joystick_left()[0], controller.joystick_left()[1]]) + MotorL = controller.joystick_left()[1] - -1 * controller.joystick_left()[0] + MotorR = controller.joystick_left()[1] - controller.joystick_left()[0] + Turret = controller.joystick_right()[0] + Boom_motor.dc(controller.joystick_right()[1]) + if Button.DOWN in controller.buttons.pressed(): + arm_motor.dc(100) + elif Button.UP in controller.buttons.pressed(): + arm_motor.dc(-100) + else: + arm_motor.dc(0) + if Button.LEFT in controller.buttons.pressed(): + Bucket_motor.dc(100) + elif Button.RIGHT in controller.buttons.pressed(): + Bucket_motor.dc(-100) + else: + Bucket_motor.dc(0) + if Button.A in controller.buttons.pressed(): + Scoop_motor.dc(100) + elif Button.B in controller.buttons.pressed(): + Scoop_motor.dc(-100) + else: + Scoop_motor.dc(0) + top_hub.ble.broadcast([MotorL, MotorR, Turret]) diff --git a/42100/lego42100_bot_blocks.py b/42100/lego42100_bot_blocks.py index e37f15b..c3c06ac 100644 --- a/42100/lego42100_bot_blocks.py +++ b/42100/lego42100_bot_blocks.py @@ -1,11 +1,11 @@ -# pybricks blocks 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from pybricks.hubs import TechnicHub from pybricks.parameters import Axis, Color, Direction, Port from pybricks.pupdevices import Motor # Set up all devices. bot_hub = TechnicHub(top_side=Axis.Z, front_side=Axis.X, broadcast_channel=0, observe_channels=[1]) -superstr_motor = Motor(Port.D, Direction.CLOCKWISE) +superstr_motor = Motor(Port.D, Direction.COUNTERCLOCKWISE) left_motor = Motor(Port.A, Direction.CLOCKWISE) right_motor = Motor(Port.B, Direction.COUNTERCLOCKWISE) @@ -17,6 +17,10 @@ data = 0 while True: data = bot_hub.ble.observe(1) if data != None: - pass + left_motor.dc(data[0]) + right_motor.dc(data[1]) + superstr_motor.dc(data[2]) + print(data) + bot_hub.light.on(Color.GREEN) else: bot_hub.light.on(Color.RED)