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