initial

2024-05-02 07:16:51 +02:00
commit fc677d3804
12 changed files with 782 additions and 0 deletions
--- a/42100/42100_top.py
+++ b/42100/42100_top.py
@@ -0,0 +1,121 @@
+""" 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(broadcast_channel=1)
+controller = XboxController()
+boom_motor = Motor(Port.A, positive_direction=Direction.COUNTERCLOCKWISE)
+arm_motor = Motor(Port.B, positive_direction=Direction.COUNTERCLOCKWISE)
+bucket_motor = Motor(Port.C, positive_direction=Direction.CLOCKWISE)
+scoop_motor = Motor(Port.D, positive_direction=Direction.CLOCKWISE)
+
+# motors settings
+BOOMSPEED = 1000
+BUCKETSPEED = 100
+ARMSPEED = 1000
+SCOOPSPEED = 1000
+
+hub.light.on(Color.GREEN)
+
+while True:
+
+
+    # control of the boom raising and lowering
+    boom_speed = 0
+    horizontal, vertical = controller.joystick_left()
+    if vertical < -20:
+        boom_speed = vertical + 20
+    elif vertical > 20:
+        boom_speed = vertical - 20
+
+    boom_motor.run(boom_speed * BOOMSPEED / 80)
+
+        # control of the jib raising and lowering
+    bucket_speed = 0
+    horizontal, vertical = controller.joystick_left()
+    if horizontal < -20:
+        bucket_speed = horizontal + 20
+    elif horizontal > 20:
+        bucket_speed = horizontal - 20
+
+    bucket_motor.run(bucket_speed * BUCKETSPEED / 80)
+
+    # control of arm
+    arm_speed = 0
+    horizontal, vertical = controller.joystick_right()
+    if vertical < -20:
+        arm_speed = vertical + 20
+    elif vertical > 20:
+        arm_speed = vertical - 20
+
+    arm_motor.run(arm_speed * ARMSPEED / 80)
+
+    # control of scoop
+    scoop_speed = 0
+    horizontal, vertical = controller.joystick_right()
+    if horizontal < -20:
+        scoop_speed = vertical + 20
+    elif horizontal > 20:
+        scoop_speed = vertical - 20
+
+    scoop_motor_motor.run(scoop_speed * SCOOPSPEED / 80)
+
+    # control of the superstructure turning
+    rot_speed = 0
+    now_pressed = controller.buttons.pressed()
+    if controller.button.RIGHT:
+        rot_speed = ROTATESPEED
+    elif controller.button.LEFT:
+        rot_speed = -ROTATESPEED
+
+        
+
+    # left track control
+    left_tr_speed = 0
+    now_pressed = controller.buttons.pressed()
+    if "X" in now_pressed:
+        brake, acceleration = controller.triggers()
+        if brake > 10:
+            left_tr_speed -= brake
+    else:
+        brake, acceleration = controller.triggers()
+        if brake > 10:
+            left_tr_speed += brake
+         
+    # right track control
+    right_tr_speed = 0
+    now_pressed = controller.buttons.pressed()
+    if "A" in now_pressed:
+        brake, acceleration = controller.triggers()
+        if acceleration > 10:
+            right_tr_speed -= acceleration
+    else:
+        brake, acceleration = controller.triggers()
+        if acceleration > 10:
+            right_tr_speed += acceleration
+
+    # Set the broadcast data and start broadcasting if not already doing so.
+    data = (rot_speed, left_tr_speed, right_tr_speed)
+    hub.ble.broadcast(data)