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recnt dont dowmr

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Harry Esses
2026-04-29 15:47:09 +00:00
parent 7ebf02f98f
commit c5d0dae35d
1 changed files with 24 additions and 7 deletions
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29
main.py
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@@ -17,9 +17,14 @@ left_motor = Motor(Ports.PORT2, GearSetting.RATIO_18_1, False)
right_motor = Motor(Ports.PORT9, GearSetting.RATIO_18_1, True) right_motor = Motor(Ports.PORT9, GearSetting.RATIO_18_1, True)
top_motor = Motor(Ports.PORT8, GearSetting.RATIO_18_1, False) top_motor = Motor(Ports.PORT8, GearSetting.RATIO_18_1, False)
bottom_motor = Motor(Ports.PORT3, GearSetting.RATIO_18_1, True) bottom_motor = Motor(Ports.PORT3, GearSetting.RATIO_18_1, True)
flip_motor = Motor(Ports.PORT11, GearSetting.RATIO_18_1, False)
run_bottom_motor = False run_bottom_motor = False
run_invert_bottom_motor = False run_invert_bottom_motor = False
speed_modifer = 1 speed_modifer = 1
flip = False
def run_flip():
global flip
flip = not flip
def intake(): def intake():
top_motor.spin(FORWARD, 100, PERCENT) top_motor.spin(FORWARD, 100, PERCENT)
# bottom_motor.spin(FORWARD, 100, PERCENT) # bottom_motor.spin(FORWARD, 100, PERCENT)
@@ -40,19 +45,28 @@ def run_run_bottom_motor():
global run_bottom_motor global run_bottom_motor
run_bottom_motor = not run_bottom_motor run_bottom_motor = not run_bottom_motor
def user_control(): def user_control():
global run_bottom_motor
global run_invert_bottom_motor
global speed_modifer
global flip
brain.screen.clear_screen() brain.screen.clear_screen()
brain.screen.print("driver control") brain.screen.print("driver control")
controller.buttonA.pressed(run_run_invert_bottom_motor) controller.buttonA.pressed(run_run_invert_bottom_motor)
bottom_motor.spin(FORWARD, 100, PERCENT) bottom_motor.spin(FORWARD, 100, PERCENT)
controller.buttonY.pressed(run_run_bottom_motor) controller.buttonY.pressed(run_run_bottom_motor)
controller.buttonUp.pressed(run_flip)
# button.pressed(intake) # button.pressed(intake)
# button.released(intake(False)) # button.released(intake(False))
# place driver control in this while loop # place driver control in this while loop
brain.screen.new_line() brain.screen.new_line()
while True: while True:
if controller.buttonR1.pressing(): if flip and flip_motor.position() == 90:
flip_motor.spin(FORWARD, 90, DEGREES)
else:
flip_motor.spin(REVERSE, 90, DEGREES)
if controller.buttonR1.pressing() and speed_modifer < 1:
speed_modifer = speed_modifer + 0.1 speed_modifer = speed_modifer + 0.1
if controller.buttonR2.pressing(): if controller.buttonR2.pressing() and speed_modifer > 0:
speed_modifer = speed_modifer - 0.1 speed_modifer = speed_modifer - 0.1
if controller.buttonB.pressing(): if controller.buttonB.pressing():
speed_modifer = 1 speed_modifer = 1
@@ -62,15 +76,18 @@ def user_control():
brain.sdcard.savefile("motors/left_motor/efficiency.txt", bytearray(str(left_motor.efficiency()))) 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()))) brain.sdcard.savefile("motors/left_motor/temperature.txt", bytearray(str(left_motor.temperature())))
if run_bottom_motor: if run_bottom_motor:
if run_invert_bottom_motor: # if run_invert_bottom_motor:
not run_invert_bottom_motor # run_run_invert_bottom_motor()
bottom_motor.spin(FORWARD, 100, PERCENT) bottom_motor.spin(FORWARD, 100, PERCENT)
top_motor.spin(FORWARD, 100 * speed_modifer, PERCENT) top_motor.spin(FORWARD, 100 * speed_modifer, PERCENT)
elif run_invert_bottom_motor: elif run_invert_bottom_motor:
if run_bottom_motor: # if run_bottom_motor:
not run_bottom_motor # run_run_bottom_motor()
bottom_motor.spin(REVERSE, 100, PERCENT) bottom_motor.spin(REVERSE, 100, PERCENT)
top_motor.spin(REVERSE, 100, PERCENT) top_motor.spin(REVERSE, 100, PERCENT)
# elif run_invert_bottom_motor:
# if run_bottom_motor:
# run_run_bottom_motor()
else: else:
bottom_motor.stop() bottom_motor.stop()
top_motor.stop() top_motor.stop()