initial

42100/42100_bot.py

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+""" LEGO Liebherr LR 13000 / Xbox Controller / Pybricks
+
+    Top hub connects to Xbox controller.
+	
+	Bottom hub receives the control data from the top one.
+
+    Controls:
+    Undercarriage
+	    Left track forward ... Left trigger
+	    Left track backward ... Left trigger + Button X pushed
+	    Right track forward ... Right trigger
+	    Right track backward ... Right trigger + Button A pushed
+		The superstructure turning ... Right joystick left / right
+	Crane
+		The boom raising / lowering ... Left joystick up / down
+		The jib raising / lowering ... Left joystick left / right
+		The hook raising / lowering ... Right joystick up / down		
+		The lights on / off ... Button Y
+"""
+
+from pybricks.hubs import TechnicHub
+from pybricks.pupdevices import Motor, Light
+from pybricks.parameters import Button, Color, Direction, Port
+from pybricks.tools import wait
+from pybricks.iodevices import XboxController
+
+hub = TechnicHub(observe_channels=[1])
+superstr_motor = Motor(Port.D, positive_direction=Direction.COUNTERCLOCKWISE)
+left_motor = Motor(Port.A, positive_direction=Direction.CLOCKWISE)
+right_motor = Motor(Port.B, positive_direction=Direction.COUNTERCLOCKWISE)
+
+# motors settings
+LEFT_TRACK_SPEED = 800
+RIGHT_TRACK_SPEED = 800
+ROTATESPEED = 240          # motor speed to turn the crane superstructure
+
+while True:
+
+    # Receive broadcast from the other hub.
+    data = hub.ble.observe(1)
+
+    if data is None:
+        # No data has been received in the last 1 second.
+        hub.light.on(Color.RED)
+    else:
+        # Data was received and is less that one second old.
+        hub.light.on(Color.GREEN)
+
+        # *data* contains the same values in the same order
+        # that were passed to hub.ble.broadcast() on the
+        # other hub.
+        rot_speed, left_tr_speed, right_tr_speed = data
+
+        # control of the superstructure turning
+        superstr_motor.run(rot_speed * ROTATESPEED / 80)
+
+        # left track control
+        left_motor.run(left_tr_speed * LEFT_TRACK_SPEED / 100)
+
+        # right track control
+        right_motor.run(right_tr_speed * RIGHT_TRACK_SPEED / 100)
+