Controller

The EXP Controller allows users to control and customize behaviors for their robot or display messages on the Controller’s screen.

Below is a list of available blocks:

• Controller pressed? – Returns whether a selected button is pressed.

• Controller position – Returns a joystick’s position.

• Controller enable/disable – Enables or disables Controller-configured actions.

• when Controller button pressed – Runs the attached stack when a selected button is pressed or released.

• when Controller axis is changed – Runs the attached stack when a joystick axis value changes.

Controller pressed?

The Controller pressed? block returns a Boolean indicating whether a specific button on the controller is currently pressed.

• True – The specified button on the controller is being pressed.

• False – The specified button on the controller is not being pressed.

<¿Controlador [L1 v] presionado?>

Parameter	Description
button	Which button to check: L1 L2 L3 R1 R2 R3 ▲ ▼ A B

Example

cuando empezó
[Drive forward while X is pressed.]
para siempre
si <¿Controlador [R1 v] presionado?> entonces
unidad [adelante v]
demás
deja de conducir

Controller position

The Controller position block returns how far a joystick is moved along a specific axis from -100 to 100. A value of 0 means the joystick is centered.

(Posición [1 v] del controlador)

Parameter	Description
axis	Which axis to check: 1 2 3 4

Example

cuando empezó
[Drive forward while the left joystick is pushed up.]
para siempre
si <(Posición [3 v] del controlador) [math_greater_than v] [0]> entonces
unidad [adelante v]
demás
deja de conducir

Controller enable/disable

The Controller enable/disable block enables or disables Controller configured actions from the Devices menu for all connected controllers.

Controlador [Disable v]

Parameter	Description
state	What state to set the connected controller to: Disable Enable

cuando empezó
[Disable controller configured actions until drive is done.]
Controlador [Disable v]
unidad [adelante v] para (6) [pulgadas v] ▶
Controlador [Enable v]

when Controller button pressed

The when Controller button pressed block runs the attached stack of blocks when a specified Controller button is pressed or released.

cuando el botón del controlador [L1 v] [presionado v] :: hat events

Parameter	Description
button	Which button to check: L1 L2 L3 R1 R2 R3 ▲ ▼ A B
state	When the attached stack of blocks will be run: pressed released

Example

cuando el botón del controlador [A v] [presionado v] :: hat events
[Drive forward 50 mm whenever the A button is pressed]
unidad [adelante v] para [200] [mm v] ▶

when Controller axis changed

The when Controller axis changed block runs the attached stack of blocks whenever the value of a specified joystick axis changes.

when Controller axis [1 v] changed :: hat events

Parameter	Description
device	Which controller to use, configured in the Devices window.
axis	Which axis to check: 1 2 3 4

Example

when Controller axis [3 v] changed :: hat events
[Move forward when left joystick is up, backwards if down.]
si <(Posición [3 v] del controlador) [math_greater_than v] [0]> entonces
unidad [adelante v]
de lo contrario si <(Posición [3 v] del controlador) [math_less_than v] [0]> entonces
unidad [atrás v]
demás
deja de conducir