# Custom Controls

<figure><img src="/files/0sJmSUsJgH8bNS3n5g2j" alt=""><figcaption></figcaption></figure>

**\[Zoe Foxlin]** A program tells your hub and motors how to respond to button presses. You can create your own custom program to control your bot any way you like!

{% stepper %}
{% step %}

### Create a program file

1. Visit [code.robobattles.com](https://code.robobattles.com/) using Chrome or Edge.
2. Click the ➕ **New File** button.

<div align="center"><figure><img src="/files/JuwIj7j2lRmAnUERwfnA" alt="" width="563"><figcaption></figcaption></figure></div>

3. If this is your first time, copy my premade control program ↓.

<details>

<summary>Zoe's Universal Robot Controls</summary>

Hover over the code below, click the Copy button, and paste it into your empty file.

{% code fullWidth="false" %}

```python
# Set up controller
controller = XboxController()

# Set up motors
left = Motor(Port.A)
right = Motor(Port.B)
weapon = Motor(Port.C)

# Run program loop
while True:
    # Get input
    compX = controller.joystick_left()[0]
    compY = controller.joystick_left()[1]
    compWL = controller.triggers()[0]
    compWR = controller.triggers()[1]

    # Accept D-Pad for drive motor control to support adaptive controllers
    if Button.LEFT in controller.buttons.pressed():
        compX -= 100

    if Button.RIGHT in controller.buttons.pressed():
        compX += 100

    if Button.UP in controller.buttons.pressed():
        compY += 100

    if Button.DOWN in controller.buttons.pressed():
        compY += 100

    # Accept buttons for weapon motor control to support adaptive controller
    if Button.B in controller.buttons.pressed():
        compWR += 100
        
    if Button.A in controller.buttons.pressed():
        compWL += 100

    # Reduce left/right input for slower turning to make bot easier to control
    compX /= 3

    # Control weapon motors
    if compWL - compWR != 0:
        weapon.go(compWL - compWR)
    else:
        # Triggers are not pressed, so let weapon motor spin freely
        weapon.stop()

    # Control wheel motors
    if compX != 0 or compY != 0:
        # Joystick is pressed, so move wheel motors
        left.go(-compY - compX)
        right.go(compY - compX)
    else:
        # Joystick is not pressed, so let wheel motors spin freely
        left.stop()
        right.stop()

```

{% endcode %}

</details>
{% endstep %}

{% step %}

### Connect your hub to your computer

{% tabs %}
{% tab title="Technic™ Hub" %}

<div align="left" data-full-width="false"><figure><img src="/files/XbGfRBNDWU5a2Czt5kbO" alt="" width="188"><figcaption></figcaption></figure></div>

1. Turn on your hub.
2. Double tap the green button. The light should start flashing blue.
3. Click the **Bluetooth** button.

<div align="center"><figure><img src="/files/CQiunUVd7323SBSQBx8Q" alt="" width="563"><figcaption></figcaption></figure></div>

3. Click the name of your hub, then click **Pair***.*

<div align="center"><figure><img src="/files/LIJvdR9TyO2dcevaWgKb" alt="" width="563"><figcaption></figcaption></figure></div>

When the hub is connected, the light will stop flashing and turn solid blue. The Bluetooth button icon will also change. <img src="/files/qpnWUTeh5I1Ugl0D4PUg" alt="" data-size="line">

<details>

<summary>Troubleshooting</summary>

### The hub won't light up

Make sure you've installed **all 6** AA batteries. The battery holder pops out and stores 2 rows of 3 batteries each. Make sure your batteries are fully charged and facing the right directions.

### The hub isn't showing up in the list

* Make sure your hub is in Bluetooth mode. The light should be **flashing blue**.
  * If the light is off, your hub is off. Press the green button to turn it on.
  * If the light is slowly pulsing, your hub is running code. Double tap the green button until the light starts flashing instead.
* Make sure you've [installed the latest RoboBattles firmware](/tutorial/controls/first-time-setup.md).

If it's still not showing up, reinstall the RoboBattles firmware and start over.

</details>
{% endtab %}

{% tab title="SPIKE™ Prime Hub" %}

<div align="left"><figure><img src="/files/W7M6S24q75gbIBVrTCZk" alt="" width="188"><figcaption></figcaption></figure></div>

1. Turn on your hub.
2. Double tap the power button. The hub light should start flashing blue.
3. Click the **Bluetooth** button.

<div align="center"><figure><img src="/files/CQiunUVd7323SBSQBx8Q" alt="" width="563"><figcaption></figcaption></figure></div>

3. Click the name of your hub, then click **Pair***.*

<div align="center"><figure><img src="/files/LIJvdR9TyO2dcevaWgKb" alt="" width="563"><figcaption></figcaption></figure></div>

When the hub is connected, the light will stop blinking and turn solid blue. The Bluetooth button icon will also change. <img src="/files/qpnWUTeh5I1Ugl0D4PUg" alt="" data-size="line">

<details>

<summary>Troubleshooting</summary>

### The hub won't turn on

Make sure the battery is charged.

### The hub isn't showing up in the list

* Make sure your hub is in Bluetooth mode. The light should be **flashing blue**.
* Make sure you've [installed the latest RoboBattles firmware](/tutorial/controls/first-time-setup.md).

If it's still not showing up, reinstall the RoboBattles firmware and start over.

</details>
{% endtab %}
{% endtabs %}
{% endstep %}

{% step %}

### Transfer the program to your hub

1. Press the *Play* button.

<div align="center"><figure><img src="/files/8VeSLq9EOjt9y0SLUDLc" alt=""><figcaption></figcaption></figure></div>

The play button will turn into a loading wheel to show progress. If it gets stuck: refresh the page,  reconnect bluetooth, and try again.

You only need to transfer a program to your hub once. Your hub will remember it.

<details>

<summary>Troubleshooting</summary>

### The play button is grayed out

Make sure your hub is connected to your computer.

</details>
{% endstep %}
{% endstepper %}


---

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