Controlador#

Introducción #

El cerebro IQ (2.ª generación) puede conectarse a un controlador IQ (2.ª generación) o a un controlador IQ (1.ª generación). Ambos controladores tienen dos joysticks analógicos y varios botones que el Brain puede usar para detectar movimientos y pulsaciones.

This page uses Controller as the example controller name. Replace it with your own configured name as needed.

A continuación se muestra una lista de todos los métodos:

Acciones: Activa o desactiva las acciones configuradas en el controlador.

RemoteControlCodeEnabled — Enables or disables controller configured actions.

Obtenedores: Devuelven valores de los joysticks y botones del controlador.

pressing — Returns whether the specified button is being pressed.
position — Returns the position of the joystick’s specified axis.

Callback: Interactúa con el controlador mediante métodos de devolución de llamada.

pressed — Registers a function to be called when the specified button is pressed.
released — Registers a function to be called when the specified button is released.
changed — Registers a function to be called when the joystick’s axis changes.

Constructores: Inicialice manualmente el controlador.

controller — Create a controller.

Comportamiento #

RemoteControlCodeEnabled #

RemoteControlCodeEnabled is a variable that can be set to a Boolean that enables or disables controller configured actions from the Devices menu. The controller is enabled by default. It can be set to either of the following:

true — Enable controller configured actions.
false — Disable controller configured actions.

Usage:
RemoteControlCodeEnabled = false;

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Drive forward or backward using the left joystick
  RemoteControlCodeEnabled = false;

  while (true) {
    if (Controller.AxisA.position() > 0) {
      Drivetrain.drive(forward);
    } else if (Controller.AxisA.position() < 0) {
      Drivetrain.drive(reverse);
    // Press E ▲ to use the controller configured actions
    } else if (Controller.ButtonEUp.pressing()) {
      break;
    } else {
      Drivetrain.stop();
    }
    wait(20, msec);
  }

  RemoteControlCodeEnabled = true;
}

Captadores #

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 ButtonEDown (see full list of button objects below).

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

Uso:
Se puede usar uno de los diez objetos de botón disponibles con este método, como se muestra a continuación:

Botón	Dominio
`ButtonEDown`	`Controller.ButtonEDown.pressing()` — The E ▼ button
`ButtonEUp`	`Controller.ButtonEUp.pressing()` — The E ▼ button
`ButtonFDown`	`Controller.ButtonFDown.pressing()` — The F ▼ button
`ButtonFUp`	`Controller.ButtonFUp.pressing()` — The F ▼ button
`ButtonL3`	`Controller.ButtonL3.pressing()` — The Left Joystick button IQ (2nd gen) Controller only
`ButtonLDown`	`Controller.ButtonLDown.pressing()` — The L ▼ button
`ButtonLUp`	`Controller.ButtonLUp.pressing()` — The L ▼ button
`ButtonR3`	`Controller.ButtonR3.pressing()` — The Right Joystick button IQ (2nd gen) Controller only
`ButtonRDown`	`Controller.ButtonRDown.pressing()` — The R ▼ button
`ButtonRUp`	`Controller.ButtonRUp.pressing()` — The R ▼ button

Parámetros	Descripción
	Este método no tiene parámetros.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Turn right while E Up is held
  while (true) {
    if (Controller.ButtonEUp.pressing()) {
      Drivetrain.turn(right);
    } else {
      Drivetrain.stop();
    }
    wait(20, msec);
  }
}

position #

position returns the position of the joystick’s specified axis as an integer from –100 to 100, representing a percentage. This method must be called on a specific axis object, such as AxisA (see full list of axis objects below).

Uso:
Se puede utilizar uno de los cuatro ejes disponibles con este método, como se muestra a continuación:

Controlador IQ de segunda generación con los cuatro ejes del joystick resaltados. En el joystick izquierdo, el eje A es vertical y el eje B es horizontal. En el joystick derecho, el eje C es horizontal y el eje D es vertical.

Eje	Dominio
`AxisA`	`Controller.AxisA.position()` — The Left Joystick’s vertical axis
`AxisB`	`Controller.AxisB.position()` — The Left Joystick’s horizontal axis
`AxisC`	`Controller.AxisC.position()` — The Right Joystick’s horizontal axis
`AxisD`	`Controller.AxisD.position()` — The Right Joystick’s vertical axis

Parámetros	Descripción
	Este método no tiene parámetros.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Turn with the left joystick
  RemoteControlCodeEnabled = false;

  while (true) {
    if (Controller.AxisB.position() > 10) {
      Drivetrain.turn(right);
    } else if (Controller.AxisB.position() < -10) {
      Drivetrain.turn(left);
    } else {
      Drivetrain.stop();
    }
    wait(20, msec);
  }
}

Llamar de vuelta #

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 ButtonEDown — (see full list of button objects below).

Uso:
Se puede usar uno de los diez objetos de botón disponibles con este método, como se muestra a continuación:

Botón	Dominio
`ButtonEDown`	`Controller.ButtonEDown.pressed(callback);` — The E ▼ button
`ButtonEUp`	`Controller.ButtonEUp.pressed(callback);` — The E ▼ button
`ButtonFDown`	`Controller.ButtonFDown.pressed(callback);` — The F ▼ button
`ButtonFUp`	`Controller.ButtonFUp.pressed(callback);` — The F ▼ button
`ButtonL3`	`Controller.ButtonL3.pressed(callback);` — The Left Joystick button IQ (2nd gen) Controller only
`ButtonLDown`	`Controller.ButtonLDown.pressed(callback);` — The L ▼ button
`ButtonLUp`	`Controller.ButtonLUp.pressed(callback);` — The L ▼ button
`ButtonR3`	`Controller.ButtonR3.pressed(callback);` — The Right Joystick button IQ (2nd gen) Controller only
`ButtonRDown`	`Controller.ButtonRDown.pressed(callback);` — The R ▼ button
`ButtonRUp`	`Controller.ButtonRUp.pressed(callback);` — The R ▼ button

Parámetro	Descripción
`callback`	Una función que se define previamente para ejecutarse cuando se presiona el botón especificado.

// Drive forward when E Up is pressed
void driveForward() {
  Drivetrain.driveFor(forward, 100, mm);
}

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  Controller.ButtonEUp.pressed(driveForward);
}

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 ButtonEDown – (see full list of button objects below).

Uso:
Se puede usar uno de los diez objetos de botón disponibles con este método, como se muestra a continuación:

Botón	Dominio
`ButtonEDown`	`Controller.ButtonEDown.released(callback);` — The E ▼ button
`ButtonEUp`	`Controller.ButtonEUp.released(callback);` — The E ▼ button
`ButtonFDown`	`Controller.ButtonFDown.released(callback);` — The F ▼ button
`ButtonFUp`	`Controller.ButtonFUp.released(callback);` — The F ▼ button
`ButtonL3`	`Controller.ButtonL3.released(callback);` — The Left Joystick button IQ (2nd gen) Controller only
`ButtonLDown`	`Controller.ButtonLDown.released(callback);` — The L ▼ button
`ButtonLUp`	`Controller.ButtonLUp.released(callback);` — The L ▼ button
`ButtonR3`	`Controller.ButtonR3.released(callback);` — The Right Joystick button IQ (2nd gen) Controller only
`ButtonRDown`	`Controller.ButtonRDown.released(callback);` — The R ▼ button
`ButtonRUp`	`Controller.ButtonRUp.released(callback);` — The R ▼ button

Parámetro	Descripción
`callback`	Una función que se define previamente para ejecutarse cuando se suelta el botón especificado.

// Drive backward when F Down is released
void backUp() {
  Drivetrain.driveFor(reverse, 100, mm);
}

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  Controller.ButtonFDown.released(backUp);
}

changed #

changed registers a function to be called when the joystick’s position changes. This method must be called on a specific axis object, such as AxisA (see full list of axis objects below).

Uso:
Se puede utilizar uno de los cuatro ejes disponibles con este método, como se muestra a continuación:

Eje	Dominio
`AxisA`	`Controller.AxisA.changed(callback);` — The Left Joystick’s vertical axis
`AxisB`	`Controller.AxisB.changed(callback);` — The Left Joystick’s horizontal axis
`AxisC`	`Controller.AxisC.changed(callback);` — The Right Joystick’s horizontal axis
`AxisD`	`Controller.AxisD.changed(callback);` — The Right Joystick’s vertical axis

Parámetros	Descripción
`callback`	Una función que se define previamente para ejecutarse cuando cambia el valor del eje.

// Play a sound when the right joystick moves
void beep() {
  Brain.playSound(tada);
  wait(1, seconds);
}

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  Controller.AxisD.changed(beep);
}

Constructores #

controller #

controller creates a controller object.

Usage:
controller Controller = controller();

Parámetro	Descripción
	Este método no tiene parámetros.

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Create a Controller object
  controller Controller = controller();

  // Drive forward while R Up is held
  while (true) {
    if (Controller.ButtonRUp.pressing()) {
      Drivetrain.drive(forward);
    } else {
      Drivetrain.stop();
    }
    wait(20, msec);
  }
}