Powered Up Remote Control

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Control the Zetros truck with the Powered Up Remote!

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Program

This program lets you drive the truck around using the Powered Up remote control. Use the center button to toggle the differential lock.

from pybricks.pupdevices import Motor, DCMotor, Remote
from pybricks.parameters import Port, Direction, Button, Color
from pybricks.tools import wait

# Connect to the remote.
remote = Remote()

# Initialize the drive motors.
drive_motor1 = Motor(Port.A)
drive_motor2 = Motor(Port.B)

# Lower the acceleration so it starts and stops realistically.
drive_motor1.control.limits(acceleration=1000)
drive_motor2.control.limits(acceleration=1000)

# Find the steering endpoint on the left and right.
# The middle is in between.
steer_motor = Motor(Port.D, Direction.COUNTERCLOCKWISE)
left_end = steer_motor.run_until_stalled(-400)
right_end = steer_motor.run_until_stalled(400)

# Return to the center.
max_steering = (right_end - left_end) / 2
steer_motor.reset_angle(max_steering)
steer_motor.run_target(speed=200, target_angle=0)

# Initialize the differential as unlocked.
lock_motor = DCMotor(Port.C)
LOCK_POWER = 60
lock_motor.dc(-LOCK_POWER)
wait(600)
lock_motor.stop()
locked = True

# Now we can start driving!
while True:
    # Check which buttons are pressed.
    pressed = remote.buttons.pressed()

    # Choose the steer angle based on the left controls.
    steer_angle = 0
    if Button.LEFT_PLUS in pressed:
        steer_angle -= max_steering
    if Button.LEFT_MINUS in pressed:
        steer_angle += max_steering

    # Steer to the selected angle.
    steer_motor.run_target(1000, steer_angle, wait=False)

    # Choose the drive speed based on the right controls.
    drive_speed = 0
    if Button.RIGHT_PLUS in pressed:
        drive_speed += 1000
    if Button.RIGHT_MINUS in pressed:
        drive_speed -= 1000

    # Apply the selected speed.
    drive_motor1.run(drive_speed)
    drive_motor2.run(drive_speed)

    # Button for differential lock
    if Button.CENTER in pressed:
        # Stop the drive motors
        drive_motor1.stop()
        drive_motor2.stop()

        # Run lock motor for half a second.
        remote.light.on(Color.RED)
        lock_motor.dc(LOCK_POWER if locked else -LOCK_POWER)
        wait(500)
        lock_motor.stop()

        # Update lock state.
        locked = not locked
        remote.light.on(Color.BLUE if locked else Color.GREEN)

    # Wait.
    wait(10)

Set details

For more details about this set, check out Jim van Gulik’s review over at Eurobricks.

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This project was submitted by The Pybricks Team.