Add main.py

2026-04-13 01:51:53 +00:00
commit 1d97d3ac29
1 changed files with 92 additions and 0 deletions
--- a/main.py
+++ b/main.py
@@ -0,0 +1,92 @@
+# ---------------------------------------------------------------------------- #
+#                                                                              #
+# 	Module:       main.py                                                      #
+# 	Author:       Harry Esses                                                  #
+# 	Created:      3/28/2026, 11:04:06 PM                                       #
+# 	Description:  V5 project                                                   #
+#                                                                              #
+# ---------------------------------------------------------------------------- #
+
+# Library imports
+from vex import *
+from math import log
+brain = Brain()
+controller = Controller(PRIMARY)
+button = Limit(brain.three_wire_port.e)
+left_motor = Motor(Ports.PORT2, GearSetting.RATIO_18_1, False)
+right_motor = Motor(Ports.PORT9, GearSetting.RATIO_18_1, True)
+top_motor = Motor(Ports.PORT8, GearSetting.RATIO_18_1, False)
+bottom_motor = Motor(Ports.PORT3, GearSetting.RATIO_18_1, True)
+run_bottom_motor = False
+def intake():
+    top_motor.spin(FORWARD, 100, PERCENT)
+    # bottom_motor.spin(FORWARD, 100, PERCENT)
+    wait(500, MSEC)
+    top_motor.stop()
+    # bottom_motor.stop()
+def autonomous():
+    brain.screen.clear_screen()
+    brain.screen.print("autonomous code")
+    # place automonous code here
+    # button.pressed(intake(True))
+    # button.released(intake(False))
+
+def invert_bottom_motor():
+    global run_bottom_motor
+    run_bottom_motor = not run_bottom_motor
+def user_control():
+    brain.screen.clear_screen()
+    brain.screen.print("driver control")
+    controller.buttonA.pressed(lambda: controller.rumble(".."))
+    bottom_motor.spin(FORWARD, 100, PERCENT)
+    controller.buttonY.pressed(invert_bottom_motor)
+    # button.pressed(intake)
+    # button.released(intake(False))
+    # place driver control in this while loop
+    brain.screen.new_line()
+    while True:
+        brain.sdcard.savefile("motors/left_motor/velocity.txt", bytearray(str(left_motor.velocity())))
+        brain.sdcard.savefile("motors/left_motor/power.txt", bytearray(str(left_motor.power())))
+        brain.sdcard.savefile("motors/left_motor/torque.txt", bytearray(str(left_motor.torque())))
+        brain.sdcard.savefile("motors/left_motor/efficiency.txt", bytearray(str(left_motor.efficiency())))
+        brain.sdcard.savefile("motors/left_motor/temperature.txt", bytearray(str(left_motor.temperature())))
+        if run_bottom_motor:
+            bottom_motor.spin(FORWARD, 100, PERCENT)
+            top_motor.spin(FORWARD, 100, PERCENT)
+        else:
+            bottom_motor.stop()
+            top_motor.stop()
+        print(button.pressing())
+        brain.screen.clear_screen()
+        # controller.screen.print("controller code")
+        # controler.axis3.position() 
+        
+        if True:
+            # print = brain.screen.print
+            stright = controller.axis3.position() 
+            turn = controller.axis1.position()
+            turn_modifer = 1
+            left = stright + turn * turn_modifer
+            right = stright - turn * turn_modifer
+            left_motor.spin(FORWARD, left, PERCENT)
+            right_motor.spin(FORWARD, right, PERCENT)
+            # if controller.axis3.position() != 0:
+            #     left_motor.spin(FORWARD, controller.axis3.position()*0.7, PERCENT)
+            #     right_motor.spin(REVERSE, controller.axis3.position()*0.7, PERCENT)
+            # else:
+            #     left_motor.stop()
+            #     right_motor.stop()
+            # print(controller.axis3.position())
+            # # brain.screen.new_line()
+            # print(left_motor.velocity())
+            # # brain.screen.new_line()
+            # print(right_motor.velocity())
+            # # brain.screen.new_line()
+        # Drive code
+        # wait(20, MSEC)
+
+# create competition instance
+comp = Competition(user_control, autonomous)
+
+# actions to do when the program starts
+brain.screen.clear_screen()