App controlled transformation vehicle (42140) with xbox controller

[Willberto]

I'm super happy to finally be able to easily use a gaming style controller directly with the PoweredUp hub. I wanted to get the transformation vehicle working with a physical controller for my daughter so I spent a few days getting it working. Since there's no example for a tracked vehicle I wanted to share it. I'm by no means an expert in code and this is one of my few python projects so may not be the best but I've gotten it working pretty well. Let me know if there are any errors or things that could be done better. I didn't find anything done already for it in my searching, so if anyone wants to use it for an example on pybrick site or anywhere else, feel free.

It handles changing direction when flipping over perfectly so far.

from pybricks.iodevices import XboxController
from pybricks.parameters import Direction, Port
from pybricks.pupdevices import Motor
from pybricks.hubs import TechnicHub


# Set up all devices.
left_motor = Motor(Port.B, Direction.CLOCKWISE)
right_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)

controller = XboxController()
hub = TechnicHub()


DRIVE_SPEED = 10
DRIVE_ACCELERATION = 9000
left_speed = 0
right_speed = 0

left_motor.control.limits(acceleration=DRIVE_ACCELERATION)
right_motor.control.limits(acceleration=DRIVE_ACCELERATION)


# The main program starts here.
while True:

    # Drive using left joystick.
    horizontal_l, vertical_l = controller.joystick_left() #vertical_l is used
    # Steer with the right joystick.
    horizontal, vertical = controller.joystick_right()#horizontal is used


    pitch, roll = hub.imu.tilt()
    inverted_yn = -1 if abs(roll) > 90 else 1

    left_speed = inverted_yn * (vertical_l+horizontal*inverted_yn*.6)*DRIVE_SPEED
    right_speed = inverted_yn * (vertical_l-horizontal*inverted_yn*.6)*DRIVE_SPEED

    #If both drivespeeds are less than value let motors idle
    if abs(left_speed) < 1 and abs(right_speed) < 1:
        left_motor.stop()
        right_motor.stop()
    else:
        left_motor.run(left_speed)
        right_motor.run(right_speed)

[laurensvalk]

Looks great, thanks for sharing!