Custom Controls
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# 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()