41999 + remote improvements and 42124 (Bybricks beta only)

[Gcopper1984]

Hi everyone,
I just made a new script to use the remote controller and control+ for 42124 (buggy) and 42099 (crawler).

Controller are more or less the same:

Left - and Left + to steer left and right
Left red button to BRAKE

Right + and Right - to drive forward or backward at 100% power. Hold the Right center button with R+ or R- to drive at 50% of power.

Also for 42099 the led color changes from green, orange and red if inclination angle increase.

Hope could be useful for someone.

Here code:

20210716_42099_Pybricks_v3_DC_Colori.py.txt
20210716_42124_buggy_RC.py.txt

Hope this help. Any feedback is welcome

GC

[dlech]

Here are the same files so people can see them without having download them if they don't want to:

20210716_42099_Pybricks_v3_DC_Colori.py.txt

from pybricks.hubs import TechnicHub
from pybricks.pupdevices import Motor, Remote
from pybricks.parameters import Port, Direction, Stop, Button, Color
from pybricks.tools import wait

# Initialize the hub.
hub = TechnicHub()
status = 0 # 0: OK, 1 Warning, 2: Error

# Initialize the motors.
steer = Motor(Port.C)
front = Motor(Port.A, Direction.COUNTERCLOCKWISE)
rear = Motor(Port.B, Direction.COUNTERCLOCKWISE)

# Lower the acceleration so the car starts and stops realistically.
front.control.limits(acceleration=2000) #1000
rear.control.limits(acceleration=2000) #1000

# Connect to the remote.
remote = Remote()
#print(remote.address()) Not supported yet
#remote.light.on(Color.CYAN)

# Find the steering endpoint on the left and right.
# The middle is in between.
steer.reset_angle(0)
left_end = steer.run_until_stalled(-300, then=Stop.HOLD) # 200
right_end = steer.run_until_stalled(300, then=Stop.HOLD)

#print("Left: ", left_end)
#print("Right: ", right_end)

# We are now at the right. Reset this angle to be half the difference.
# That puts zero in the middle.
steer.reset_angle((right_end - left_end) / 2)
steer.run_target(speed=300, target_angle=0, wait=False)

# Now we can start driving!
while True:
    # LED indicating particular situation
    pitch, roll = hub.imu.tilt()
    #print(pitch, roll)
    #wait(1000)

    status = 0

    if pitch < -10 or roll < -10 or pitch > 10 or roll > 10:
        status = 1

    if pitch < -20 or roll < -20 or pitch > 20 or roll > 20:
        status = 2
    
    if status == 0:
        hub.light.on(Color.GREEN)
    elif status == 1:
        hub.light.on(Color.ORANGE)
    elif status == 2:
        hub.light.on(Color.RED)

    # Check which buttons are pressed.
    pressed = remote.buttons.pressed()
    #print("pressed: ", pressed)

    # Choose the steer angle based on the left controls.
    steer_angle = 0
    if Button.LEFT_PLUS in pressed:
        steer_angle -= 90 # 75
    if Button.LEFT_MINUS in pressed:
        steer_angle += 90

    # Steer to the selected angle.
    steer.run_target(500, steer_angle, wait=False)

    # Choose the drive speed based on the right controls.
    drive_speed = 0
    if Button.RIGHT_PLUS in pressed:
        drive_speed += 100 # 1000
    if Button.RIGHT_MINUS in pressed:
        drive_speed -= 100 # 1000 

    # HOLD if left is pressed, else apply the selected speed.
    if Button.LEFT in pressed:
        front.hold()
        rear.hold()
    elif Button.RIGHT in pressed:
        front.dc(drive_speed / 2)
        rear.dc(drive_speed / 2)
    else:
        front.dc(drive_speed)
        rear.dc(drive_speed)

    # Wait.
    wait(10)

20210716_42124_buggy_RC.py.txt

from pybricks.pupdevices import Motor, Remote
from pybricks.parameters import Port, Direction, Stop, Button
from pybricks.tools import wait

# Initialize the motors.
steer = Motor(Port.B, Direction.COUNTERCLOCKWISE)
drive = Motor(Port.A, Direction.COUNTERCLOCKWISE)

# Lower the acceleration so the car starts and stops realistically.
drive.control.limits(acceleration=1000) #1000

# Connect to the remote.
remote = Remote()
#print(remote.address()) Not supported yet
#remote.light.on(Color.CYAN)

# Find the steering endpoint on the left and right.
# The middle is in between.
steer.reset_angle(0)
left_end = steer.run_until_stalled(-300, then=Stop.HOLD) # 200
right_end = steer.run_until_stalled(300, then=Stop.HOLD)

print("Left: ", left_end)
print("Right: ", right_end)

# We are now at the right. Reset this angle to be half the difference.
# That puts zero in the middle.
steer.reset_angle((right_end - left_end) / 2)
steer.run_target(speed=300, target_angle=0, wait=False)

# Now we can start driving!
while True:
    # Check which buttons are pressed.
    pressed = remote.buttons.pressed()
    #print("pressed: ", pressed)

    # Choose the steer angle based on the left controls.
    steer_angle = 0
    if Button.LEFT_PLUS in pressed:
        steer_angle -= 90 # 75
    if Button.LEFT_MINUS in pressed:
        steer_angle += 90

    # Steer to the selected angle.
    steer.run_target(500, steer_angle, wait=False)

    # Choose the drive speed based on the right controls.
    drive_speed = 0
    if Button.RIGHT_PLUS in pressed:
        drive_speed += 100 # 1000
    if Button.RIGHT_MINUS in pressed:
        drive_speed -= 100 # 1000 

    # HOLD if left is pressed, else apply the selected speed.
    if Button.LEFT in pressed:
        drive.hold()
    elif Button.RIGHT in pressed:
        #drive.run(drive_speed / 2)
        drive.dc(drive_speed / 2)
    else:
        drive.dc(drive_speed)

    # Wait.
    wait(10)

[laurensvalk]

Thanks for sharing this! Are you giobaxNXT who commented about this on our YouTube by any chance?

We'd love to share it on our site with your permission (and credit). It would look similar to this project. What do you think?

Before we do, here are a few tips that might improve the code:

• You used dc instead of run. This is totally fine, but maybe you can change these things accordingly:
  • You can delete the line with drive.control.limits, since dc does not use acceleration.
  • Rename drive_speed to something like drive_power or duty_cycle.
• It would be good to delete commands that have been commented out, like #drive.run(drive_speed / 2) and #print("pressed: ", pressed) or #200.

[laurensvalk]

Coincidentally, @JorgePe has also just shared his example in a pull request. Perhaps we can merge his pull request, and then @Gcopper1984 can add additional things like the lights if you like?

We can update the template to allow multiple authors, which would be a good thing to do anyway.

[Gcopper1984]

Hi!

Yep, it's me!

Ok, thank you for your feedback. Of @JorgePe it's working on that and already proposed a pull request no problem. I Will eventually modifiy his code.

I Hope this project Will grow in future because ot has a lot.of potential.
I Will try to add something.

Thank you!

[JorgePe]

Hi.
To be honest, there is no such thing as "my code". I had the 42124 with me, last day of holidays with the kids and didn't want them to go outside with an iPad just to drive a LEGO car so I simply copied the code from other project (the Technic off-road truck), removed the code for one of the motors and corrected the motor ports. It worked so goal accomplished let's wait for the kids to wake up (later on I found out the calibration of the steering could be better).

Then I realized I could create a new Project just by "copy&paste", replacing links and photos and making a video so why not?

If you @Gcopper1984 have your own code, it would be great if you replace "mine" has we already have a placeholder available.

[Danikto47]

Hello.
I want to add light to my buggy 42124. I would be very grateful for your help in finalizing the code so that another port (C or D) can be used to turn on and off the light with a button on the remote control.
Thank you in advance!

[Gcopper1984]

Hi,

just posted this one:

##504

Scroll discussion to the end and you will find the code. Led light is attached to port C