# This code is meant as a boilerplate for your remote control project.
# Connect to it using a steering wheel or app:
# https://play.google.com/store/apps/details?id=com.antonsmindstorms.mindstormsrc&hl=nl&gl=US
from projects.mpy_robot_tools.rc import (RCReceiver, L_STICK_HOR, L_STICK_VER,
R_STICK_HOR, R_STICK_VER, L_TRIGGER,
R_TRIGGER, SETTING1, SETTING2)
from projects.mpy_robot_tools.helpers import clamp_int
from mindstorms import MSHub, ColorSensor, Motor, DistanceSensor
from mindstorms.control import wait_for_seconds
import math
# Create your objects here.
rcv = RCReceiver(name="robot")
ma = Motor("A")
hub = MSHub()
# Write your program here.
while True: # Forever
if rcv.is_connected():
speed, turn = rcv.controller_state(R_STICK_VER, R_STICK_HOR)
if rcv.button_pressed(1):
hub.speaker.beep()
ma.start_at_power(clamp_int(speed))
else:
# Stop all motors when not connected
ma.stop()
print("Waiting for connection...")
wait_for_seconds(0.3) # async wait, better than sleep_ms
# %%
motor_left_arm.run_to_position(60)
motor_right_arm.run_to_position(335)
# Hit that pedal, baby
print("Hitting the pedal...")
motors_wheels.move(3, unit='cm')
print("DONE!")
# %%
# Fire first drum blaster
print("Firing first drum blaster...")
motors_wheels.move(2.5, unit='cm', steering=-100)
for ii in range(0, 3):
motor_right_arm.start_at_power(40)
wait_for_seconds(0.12)
motor_right_arm.start_at_power(-40)
wait_for_seconds(0.12)
motor_right_arm.run_to_position(300, direction='shortest path')
motor_left_arm.run_for_seconds(0.5, speed=-100)
motor_left_arm.run_to_position(25, direction='shortest path')
print("DONE!")
# %%
# Fire second drum blaster
print("Firing second drum blaster...")
motors_wheels.move(5, unit='cm', steering=100)
for ii in range(0, 4):
flw = Motor("A") # Front Right Wheel
frw = Motor("B")
blw = Motor("E")
brw = Motor("F")
light = 100
while 1:
if rcv.is_connected():
speed, turn, strafe = rcv.controller_state(R_STICK_VER, R_STICK_HOR, L_STICK_HOR)
if rcv.button_pressed(1):
light = 100
if rcv.button_pressed(2):
light = 50
if rcv.button_pressed(3):
light = 0
if rcv.button_pressed(8):
break
ls.light_up_all(light)
flw.start_at_power(clamp_int(-speed - turn - strafe))
frw.start_at_power(clamp_int( speed - turn - strafe))
blw.start_at_power(clamp_int(-speed + turn - strafe))
brw.start_at_power(clamp_int( speed + turn - strafe))
else:
flw.start_at_power(0)
frw.start_at_power(0)
blw.start_at_power(0)
brw.start_at_power(0)
print("Waiting for connection...")
wait_for_seconds(0.3)
