125 lines
3.6 KiB
Python
125 lines
3.6 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(broadcast_channel=1)
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controller = XboxController()
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boom_motor = Motor(Port.A, positive_direction=Direction.COUNTERCLOCKWISE)
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hook_motor = Motor(Port.B, positive_direction=Direction.COUNTERCLOCKWISE)
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jib_motor = Motor(Port.D, positive_direction=Direction.CLOCKWISE)
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light = Light(Port.C)
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# motors settings
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BOOMSPEED = 700
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JIBSPEED = 700
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HOOKSPEED = 800
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light.off()
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light_on = False
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hub.light.on(Color.GREEN)
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while True:
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# Lights on/off
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now_pressed = controller.buttons.pressed()
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if "Y" in now_pressed:
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if light_on:
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light.off()
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light_on = False
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wait(10)
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else:
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light.on(100)
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light_on = True
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wait(10)
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while "Y" in controller.buttons.pressed(): # wait until released
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wait(10)
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# control of the boom raising and lowering
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boom_speed = 0
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horizontal, vertical = controller.joystick_left()
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if vertical < -20:
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boom_speed = vertical + 20
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elif vertical > 20:
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boom_speed = vertical - 20
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boom_motor.run(boom_speed * BOOMSPEED / 80)
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# control of the jib raising and lowering
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jib_speed = 0
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horizontal, vertical = controller.joystick_left()
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if horizontal < -20:
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jib_speed = horizontal + 20
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elif horizontal > 20:
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jib_speed = horizontal - 20
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jib_motor.run(jib_speed * JIBSPEED / 80)
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# control of the hook raising and lowering
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hook_speed = 0
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horizontal, vertical = controller.joystick_right()
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if vertical < -20:
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hook_speed = vertical + 20
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elif vertical > 20:
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hook_speed = vertical - 20
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hook_motor.run(hook_speed * HOOKSPEED / 80)
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# control of the superstructure turning
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rot_speed = 0
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horizontal, vertical = controller.joystick_right()
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if horizontal < -20:
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rot_speed = horizontal + 20
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elif horizontal > 20:
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rot_speed = horizontal - 20
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# left track control
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left_tr_speed = 0
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now_pressed = controller.buttons.pressed()
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if "X" in now_pressed:
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brake, acceleration = controller.triggers()
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if brake > 10:
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left_tr_speed -= brake
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else:
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brake, acceleration = controller.triggers()
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if brake > 10:
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left_tr_speed += brake
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# right track control
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right_tr_speed = 0
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now_pressed = controller.buttons.pressed()
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if "A" in now_pressed:
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brake, acceleration = controller.triggers()
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if acceleration > 10:
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right_tr_speed -= acceleration
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else:
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brake, acceleration = controller.triggers()
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if acceleration > 10:
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right_tr_speed += acceleration
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# Set the broadcast data and start broadcasting if not already doing so.
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data = (rot_speed, left_tr_speed, right_tr_speed)
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hub.ble.broadcast(data)
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