From d7dd93206781a50b0b0134d4abea30d896ecdd51 Mon Sep 17 00:00:00 2001
From: "(MakerLab) Laptop 2" <legolaptop02@privacynet.org>
Date: Wed, 8 May 2024 19:55:03 +0200
Subject: [PATCH 1/3] =?UTF-8?q?Code=20f=C3=BCr=20Pybricks=20Fu=C3=9Fball?=
 =?UTF-8?q?=20Bot?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 soccer_bot.py | 77 +++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 77 insertions(+)
 create mode 100644 soccer_bot.py

diff --git a/soccer_bot.py b/soccer_bot.py
new file mode 100644
index 0000000..4e083d9
--- /dev/null
+++ b/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()
+
+

From e4847d6cad117270bf3b8bb76eef83cb25f71db3 Mon Sep 17 00:00:00 2001
From: "(MakerLab) Laptop 2" <legolaptop02@privacynet.org>
Date: Wed, 8 May 2024 20:05:38 +0200
Subject: [PATCH 2/3] fixed power button

---
 soccer_bot.py | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/soccer_bot.py b/soccer_bot.py
index 4e083d9..626a907 100644
--- a/soccer_bot.py
+++ b/soccer_bot.py
@@ -57,10 +57,11 @@ while True:
             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
+
+        # run fast
+        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,)

From 2c3d9eb160f200291d3a983b93fc2e0abb95578e Mon Sep 17 00:00:00 2001
From: "(MakerLab) Laptop 2" <legolaptop02@privacynet.org>
Date: Wed, 12 Jun 2024 17:48:14 +0200
Subject: [PATCH 3/3] Connecte Hub mit korrekter Remote nach Farbe

---
 soccer_bot.py | 32 ++++++++++++++++++++++++++------
 1 file changed, 26 insertions(+), 6 deletions(-)

diff --git a/soccer_bot.py b/soccer_bot.py
index 626a907..dc64075 100644
--- a/soccer_bot.py
+++ b/soccer_bot.py
@@ -2,15 +2,34 @@ from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSenso
 from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
 from pybricks.robotics import DriveBase
 from pybricks.tools import wait, StopWatch
+from pybricks.hubs import PrimeHub
 
-rc = Remote(timeout=5000)
-print("Remote name: ", rc.name)
-rc.light.on(Color.RED)
+config = {
+    "PyBrick Hub" : {
+        "remote" : "blue",
+        "color" : Color.BLUE
+    },
+    "Hub Rot" : {
+        "remote" : "red",
+        "color" : Color.RED
+    }
+}
+
+hub = PrimeHub()
+hub_name = hub.system.name()
+hub_config = config[hub_name]
+print("Hub config: ", hub_config)
+rc = Remote(timeout=5000, name=hub_config["remote"])
+rc.light.on(hub_config["color"])
 
 shoot = None
 try:
     shoot = Motor(Port.F)
     print("found shoot motor")
+    # erhöhe Beschleunigung des Shoot Motors von 2000 auf 8000
+    shoot.control.limits(1000, 8000, 199)
+    print("Shoot limits (speed, accel, torque): " + str(shoot.control.limits()))
+    shoot.control.limits
 except:
     print("no shoot motor")
 
@@ -52,11 +71,12 @@ while True:
     if Button.CENTER in pressed:
         if shoot:
             # move forward to shoot
-            angle=45
+            angle=30
             speed=1000
-            shoot.run_angle(-speed, angle)
-            # move back
             shoot.run_angle(speed, angle)
+            # move back
+            shoot.run_angle(-speed, angle)
+            #shoot.run(speed)
 
         # run fast
         db.settings(s_speed*2, s_accel, t_rate, t_accel*2)