Controller#

Introduction #

The One Stick Controller features a 4-button layout and a joystick that functions as both an analog input and a pressable button. These inputs allow the robot to detect button presses and joystick movements, enabling interactive and responsive control. Below is a list of all available methods:

Getters – Read button, joystick, and connection status.

.pressing – Returns whether the specified button is being pressed.
.position – Returns the position of the joystick’s specified axis.
is_connected – Returns whether the controller is connected.
get_battery_level – Returns the controller’s battery level as a percentage.

Callbacks – Respond to button or joystick input changes.

.pressed – Calls a function when the specified button is pressed.
.released – Calls a function when the specified button is released.
.changed – Calls a function when the joystick’s axis changes.

Getters #

.pressing #

.pressing returns an integer indicating whether a specific button on the controller is currently being pressed. This method must be called on a specific button object, such as button_up (see full list of button objects below).

1 - The specified button is being pressed.
0 - The specified button is not being pressed.

Usage:
One of five available button objects can be used with this method, as shown below:

button	Command
`button_up`	`controller.button_up.pressing()` — The Up button
`button_down`	`controller.button_down.pressing()` — The Down button
`button_left`	`controller.button_left.pressing()` — The Left button
`button_right`	`controller.button_right.pressing()` — The Right button
`button_stick`	`controller.button_stick.pressing()` — The Joystick button

Parameters	Description
	This method has no parameters.

# Move forwards while the Up button is being pressed
while True:
    if controller.button_up.pressing():
        robot.move_at(0)
    else:
        robot.stop_all_movement()

.position #

.position returns the position of the joystick’s specified axis as an integer from –100 to 100, representing a percentage.

Usage:

One of two available axes can be used with this method, as shown below:

button	Command
`axis1`	`controller.axis1.position()` — The vertical axis
`axis2`	`controller.axis2.position()` — The horizontal axis

Parameters	Description
	This method has no parameters.

while True:
    if controller.axis1.position() > 0:
        # Move forward when the joystick is moved up
        robot.move_at(0)
    else:
        # Stop moving when the joystick is centered
        robot.stop_all_movement()

is_connected #

is_connected returns a Boolean indicating whether the Controller is connected.

True - The Controller is connected.
False - The Controller is not connected.

Usage:

controller.is_connected()

Parameters	Description
	This method has no parameters.

# Start moving forward.
# When the Controller disconnects, the robot stops.
robot.move_at(0)
while True:
    if not controller.is_connected():
        robot.stop_all_movement()
    wait(100, MSEC)

get_battery_level #

get_battery_level returns the Controller’s battery level as an integer from 0 to 100, representing a percentage.

Usage:

controller.get_battery_level()

Parameters	Description
	This method has no parameters.

# Display the Controller's battery level.
robot.screen.print(controller.get_battery_level())

Callbacks #

.pressed #

.pressed registers a function to be called when a specific button on the controller is pressed. This method must be called on a specific button object, such as button_up – (see full list of button objects below).

Usage:
One of five available button objects can be used with this method, as shown below:

button	Command
`button_up`	`controller.button_up.pressed(callback, arg)` — The Up button
`button_down`	`controller.button_down.pressed(callback, arg)` — The Down button
`button_left`	`controller.button_left.pressed(callback, arg)` — The Left button
`button_right`	`controller.button_right.pressed(callback, arg)` — The Right button
`button_stick`	`controller.button_stick.pressed(callback, arg)` — The Joystick button

Parameters	Description
callback	A function that is previously defined to execute when the specified button is being pressed.
arg	Optional. A tuple containing arguments to pass to the callback function. See Using Events with Parameters for more information.

# Kick hard when Up button is pressed
def kick_object():
    robot.kicker.kick(HARD)

controller.button_up.pressed(kick_object)

.released #

.released registers a function to be called when a specific button on the controller is released. This method must be called on a specific button object, such as button_up – (see full list of button objects below).

Usage:
One of five available button objects can be used with this method, as shown below:

button	Command
`button_up`	`controller.button_up.released(callback, arg)` — The Up button
`button_down`	`controller.button_down.released(callback, arg)` — The Down button
`button_left`	`controller.button_left.released(callback, arg)` — The Left button
`button_right`	`controller.button_right.released(callback, arg)` — The Right button
`button_stick`	`controller.button_stick.released(callback, arg)` — The Joystick button

Parameters	Description
callback	A function that is previously defined to execute when the specified button is released.
arg	Optional. A tuple containing arguments to pass to the callback function. See Using Events with Parameters for more information.

# Clear the text after the Up button is released
def clear_screen():
    robot.screen.clear_screen(BLUE)

controller.button_up.released(clear_screen)

robot.screen.print("Press Up, then")
robot.screen.next_row()
robot.screen.print("Release Up!")

.changed #

.changed registers a function to be called when the joystick’s position changes.

Usage:
One of two available axes can be used with this method, as shown below:

button	Command
`axis1`	`controller.axis1.changed()` — The vertical axis
`axis2`	`controller.axis2.changed()` — The horizontal axis

Parameters	Description
callback	A function that is previously defined to execute when the axis’ value changes.
arg	Optional. A tuple containing arguments to pass to the callback function. See Using Events with Parameters for more information.

# Function to display an emoji when the joystick is moved
def move_joystick():
    robot.screen.show_emoji(CONFUSED)

# Run the function when the joystick is moved up or down
controller.axis1.changed(move_joystick)