Code für Pybricks Fußball Bot

soccer_bot.py

@@ -0,0 +1,77 @@
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor, Remote
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+
+rc = Remote(timeout=5000)
+print("Remote name: ", rc.name)
+rc.light.on(Color.RED)
+
+shoot = None
+try:
+    shoot = Motor(Port.F)
+    print("found shoot motor")
+except:
+    print("no shoot motor")
+
+right = Motor(Port.B)
+left = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+db = DriveBase(left, right, 55, 80) # DriveBase steuert beide Motoren gemeinsam
+s_speed, s_accel, t_rate, t_accel = db.settings()
+db.settings(s_speed*0.5, s_accel, t_rate, t_accel*2)
+
+while True:
+    # Check which buttons are pressed.
+    db.settings(s_speed*0.5, s_accel, t_rate, t_accel*2)
+    pressed = rc.buttons.pressed()
+    #print(str(pressed))
+    speed=0
+    angle=0
+     # Check a specific button.
+    if Button.RIGHT_PLUS in pressed:
+        speed=1000
+        angle+=180
+        #db.drive(1000, 180)
+        #right.run(1000)
+    if Button.LEFT_PLUS in pressed:
+        speed=1000
+        angle-=180
+        #db.drive(1000, -180)
+        #left.run(1000)
+    if Button.RIGHT_MINUS in pressed:
+        speed=-1000
+        angle+=180
+        #db.drive(-1000, 180)
+        #right.run(-1000)
+    if Button.LEFT_MINUS in pressed:
+        speed=-1000
+        angle-=180
+        #db.drive(-1000, -180)
+        #left.run(-1000)
+
+    if Button.CENTER in pressed:
+        if shoot:
+            # move forward to shoot
+            angle=45
+            speed=1000
+            shoot.run_angle(-speed, angle)
+            # move back
+            shoot.run_angle(speed, angle)
+        else:
+            db.settings(s_speed*2, s_accel, t_rate, t_accel*2)
+            speed=-1000
+            angle=0
+
+    if Button.LEFT_PLUS in pressed and Button.RIGHT_MINUS in pressed:
+        db.turn(-20,wait=False,)
+    elif Button.LEFT_MINUS in pressed and Button.RIGHT_PLUS in pressed:
+        db.turn(20,wait=False)
+    else:
+        db.drive(speed, angle)
+
+     # Wait so we can see the result.
+    # wait(50)
+    if speed == 0 :
+        db.stop()
+
+