initial

42100/LR13000-XboxController/LR13000_bottom_hub_04.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.B, positive_direction=Direction.COUNTERCLOCKWISE)
+left_motor = Motor(Port.C, positive_direction=Direction.CLOCKWISE)
+right_motor = Motor(Port.D, 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)
+

42100/LR13000-XboxController/LR13000_top_hub_04.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(broadcast_channel=1)
+controller = XboxController()
+boom_motor = Motor(Port.A, positive_direction=Direction.COUNTERCLOCKWISE)
+hook_motor = Motor(Port.B, positive_direction=Direction.COUNTERCLOCKWISE)
+jib_motor = Motor(Port.D, positive_direction=Direction.CLOCKWISE)
+light = Light(Port.C)
+
+# motors settings
+BOOMSPEED = 700
+JIBSPEED = 700
+HOOKSPEED = 800
+
+light.off()
+light_on = False
+
+hub.light.on(Color.GREEN)
+
+while True:
+
+    # Lights on/off
+    now_pressed = controller.buttons.pressed()
+    if "Y" in now_pressed:
+        if light_on:
+            light.off()
+            light_on = False
+            wait(10)
+        else:
+            light.on(100)
+            light_on = True
+            wait(10)
+        while "Y" in controller.buttons.pressed():  # wait until released
+            wait(10)
+
+    # 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
+    jib_speed = 0
+    horizontal, vertical = controller.joystick_left()
+    if horizontal < -20:
+        jib_speed = horizontal + 20
+    elif horizontal > 20:
+        jib_speed = horizontal - 20
+
+    jib_motor.run(jib_speed * JIBSPEED / 80)
+
+    # control of the hook raising and lowering
+    hook_speed = 0
+    horizontal, vertical = controller.joystick_right()
+    if vertical < -20:
+        hook_speed = vertical + 20
+    elif vertical > 20:
+        hook_speed = vertical - 20
+
+    hook_motor.run(hook_speed * HOOKSPEED / 80)
+
+    # control of the superstructure turning
+    rot_speed = 0
+    horizontal, vertical = controller.joystick_right()
+    if horizontal < -20:
+        rot_speed = horizontal + 20
+    elif horizontal > 20:
+        rot_speed = horizontal - 20
+
+    # 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)