135 lines
5.5 KiB
Python
135 lines
5.5 KiB
Python
# ---------------------------------------------------------------------------- #
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# #
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# Module: main.py #
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# Author: Harry Esses #
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# Created: 3/28/2026, 11:04:06 PM #
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# Description: V5 project #
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# #
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# ---------------------------------------------------------------------------- #
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# Library imports
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from vex import *
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from math import log
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brain = Brain()
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controller = Controller(PRIMARY)
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button = Limit(brain.three_wire_port.e)
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left_motor = Motor(Ports.PORT2, GearSetting.RATIO_18_1, False)
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right_motor = Motor(Ports.PORT9, GearSetting.RATIO_18_1, True)
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top_motor = Motor(Ports.PORT8, GearSetting.RATIO_18_1, False)
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bottom_motor = Motor(Ports.PORT3, GearSetting.RATIO_18_1, True)
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flip_motor = Motor(Ports.PORT11, GearSetting.RATIO_18_1, False)
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run_bottom_motor = False
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run_invert_bottom_motor = False
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speed_modifer = 1
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flip = False
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def run_flip():
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global flip
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flip = not flip
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def intake():
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top_motor.spin(FORWARD, 100, PERCENT)
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# bottom_motor.spin(FORWARD, 100, PERCENT)
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wait(500, MSEC)
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top_motor.stop()
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# bottom_motor.stop()
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def autonomous():
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brain.screen.clear_screen()
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brain.screen.print("autonomous code")
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# place automonous code here
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# button.pressed(intake(True))
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# button.released(intake(False))
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def run_run_invert_bottom_motor():
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global run_invert_bottom_motor
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run_invert_bottom_motor = not run_invert_bottom_motor
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def run_run_bottom_motor():
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global run_bottom_motor
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run_bottom_motor = not run_bottom_motor
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def user_control():
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global run_bottom_motor
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global run_invert_bottom_motor
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global speed_modifer
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global flip
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brain.screen.clear_screen()
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brain.screen.print("driver control")
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controller.buttonA.pressed(run_run_invert_bottom_motor)
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bottom_motor.spin(FORWARD, 100, PERCENT)
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controller.buttonY.pressed(run_run_bottom_motor)
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controller.buttonUp.pressed(run_flip)
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# button.pressed(intake)
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# button.released(intake(False))
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# place driver control in this while loop
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brain.screen.new_line()
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while True:
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if flip and flip_motor.position() == 90:
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flip_motor.spin(FORWARD, 90, DEGREES)
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else:
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flip_motor.spin(REVERSE, 90, DEGREES)
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if controller.buttonR1.pressing() and speed_modifer < 1:
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speed_modifer = speed_modifer + 0.1
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if controller.buttonR2.pressing() and speed_modifer > 0:
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speed_modifer = speed_modifer - 0.1
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if controller.buttonB.pressing():
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speed_modifer = 1
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brain.sdcard.savefile("motors/left_motor/velocity.txt", bytearray(str(left_motor.velocity())))
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brain.sdcard.savefile("motors/left_motor/power.txt", bytearray(str(left_motor.power())))
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brain.sdcard.savefile("motors/left_motor/torque.txt", bytearray(str(left_motor.torque())))
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brain.sdcard.savefile("motors/left_motor/efficiency.txt", bytearray(str(left_motor.efficiency())))
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brain.sdcard.savefile("motors/left_motor/temperature.txt", bytearray(str(left_motor.temperature())))
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if run_bottom_motor:
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# if run_invert_bottom_motor:
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# run_run_invert_bottom_motor()
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bottom_motor.spin(FORWARD, 100, PERCENT)
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top_motor.spin(FORWARD, 100 * speed_modifer, PERCENT)
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elif run_invert_bottom_motor:
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# if run_bottom_motor:
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# run_run_bottom_motor()
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bottom_motor.spin(REVERSE, 100, PERCENT)
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top_motor.spin(REVERSE, 100, PERCENT)
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# elif run_invert_bottom_motor:
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# if run_bottom_motor:
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# run_run_bottom_motor()
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else:
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bottom_motor.stop()
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top_motor.stop()
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# if run_invert_bottom_motor:
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# if run_bottom_motor:
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# not run_bottom_motor
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# bottom_motor.spin(REVERSE, 100, PERCENT)
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# top_motor.spin(REVERSE, 100, PERCENT)
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# else:
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# bottom_motor.stop()
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# top_motor.stop()
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print(button.pressing())
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brain.screen.clear_screen()
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# controller.screen.print("controller code")
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# controler.axis3.position()
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if True:
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# print = brain.screen.print
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stright = controller.axis3.position()
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turn = controller.axis1.position()
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turn_modifer = 1
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left = stright + turn * turn_modifer
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right = stright - turn * turn_modifer
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left_motor.spin(FORWARD, left, PERCENT)
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right_motor.spin(FORWARD, right, PERCENT)
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# if controller.axis3.position() != 0:
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# left_motor.spin(FORWARD, controller.axis3.position()*0.7, PERCENT)
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# right_motor.spin(REVERSE, controller.axis3.position()*0.7, PERCENT)
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# else:
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# left_motor.stop()
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# right_motor.stop()
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# print(controller.axis3.position())
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# # brain.screen.new_line()
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# print(left_motor.velocity())
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# # brain.screen.new_line()
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# print(right_motor.velocity())
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# # brain.screen.new_line()
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# Drive code
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# wait(20, MSEC)
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# create competition instance
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comp = Competition(user_control, autonomous)
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# actions to do when the program starts
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brain.screen.clear_screen() |