Controlador

Introducción

El controlador V5 cuenta con botones, dos joysticks, un motor de vibración y una pantalla. Los métodos del controlador permiten comprobar las pulsaciones de los botones, leer el movimiento de los joysticks, activar la vibración del controlador, habilitar o deshabilitar las acciones configuradas, ejecutar funciones cuando se producen eventos en el controlador o mostrar texto en la pantalla.

Configured Controller actions are controller behaviors set in the Devices menu. Use remote_control_code_enabled to temporarily enable or disable those configured actions during a project.

This page uses controller_1 as the example Controller name. Replace it with your own configured name as needed.

A continuación se muestra una lista de todos los métodos disponibles:

Acciones: Activar el controlador o habilitar/deshabilitar las acciones configuradas del controlador.

• rumble — Plays a rumble pattern on the Controller.

• remote_control_code_enabled — Enables or disables Controller actions configured in the Devices menu.

Pantalla: muestra texto y números en la pantalla del controlador.

• print — Displays text, numbers, or variable values on the Controller screen.

• set_cursor — Moves the cursor to a specified row and column on the Controller screen.

• column — Returns the current cursor column on the Controller screen.

• row — Returns the current cursor row on the Controller screen.

• clear_screen — Clears the Controller screen.

• clear_row — Clears one row on the Controller screen.

• next_row — Moves the cursor to the next row on the Controller screen.

Funciones de obtención: leen el estado de los botones y la posición del joystick.

• .pressing — Returns whether a specified button is being pressed.

• .position — Returns the position of a specified joystick axis.

Funciones de devolución de llamada: ejecutan funciones cuando cambia la entrada del controlador.

• .pressed — Runs a function when a specified button is pressed.

• .released — Runs a function when a specified button is released.

• .changed — Runs a function when the joystick’s position changes along a specified axis.

Constructor: crea manualmente un objeto Controller.

• Controller — Creates a Controller object.

Comportamiento

rumble

rumble plays a rumble pattern on the Controller. In the pattern string, periods are short rumbles, hyphens are long rumbles, and spaces are pauses.

Usage:
controller_1.rumble(pattern)

Parámetro	Descripción
pattern	Una cadena formada por puntos, guiones y espacios que representan el patrón de vibración.

# Rumble the Controller with a short-short-long-long pattern
controller_1.rumble("..--")

remote_control_code_enabled

remote_control_code_enabled is a variable that enables or disables Controller actions configured in the Devices menu. Controller configured actions are enabled by default.

Usage:
remote_control_code_enabled = state

Valor	Descripción
True	Habilita las acciones configuradas por el controlador.
False	Deshabilita las acciones configuradas por el controlador.

# Drive forward or backward using the left joystick
remote_control_code_enabled = False

while True:
    if controller_1.axis3.position() > 0:
        drivetrain.drive(FORWARD)
    elif controller_1.axis3.position() < 0:
        drivetrain.drive(REVERSE)
    # Press A to use Controller configured actions again
    elif controller_1.buttonA.pressing():
        break
    else:
        drivetrain.stop()

    wait(20, MSEC)

remote_control_code_enabled = True

Pantalla

La pantalla del controlador V5 tiene 3 filas y 19 columnas para mostrar texto y números.

print

controller_1.screen.print displays text, numbers, or variable values on the Controller screen using the current cursor position.

Usage:
controller_1.screen.print(value, sep, precision)

Parámetro	Descripción
value	Texto, número o valor de variable que se mostrará en la pantalla del controlador. Se pueden imprimir varios valores separándolos con comas.
sep	Optional. A string to place between values. This must be written as a keyword argument, such as sep=”- “. The default is ” “.
precision	Optional. The number of decimal places to display when printing simple numbers. This must be written as a keyword argument, such as precision=2. The default is 2.

# Print a number on the Controller screen
controller_1.screen.print(1)

# Print multiple numbers separated by hyphens
controller_1.screen.print(1, 2, 3, 4, sep="-")

# Print a number using one decimal place
controller_1.screen.print(1 / 3, precision=1)

set_cursor

set_cursor moves the cursor to a specified row and column on the Controller screen. The next printed value will appear at that position.

Usage:
controller_1.screen.set_cursor(row, col)

Parámetro	Descripción
row	The row of the cursor, from 1 to 3.
col	The column of the cursor, from 1 to 19.

# Print text at row 2, column 1
controller_1.screen.set_cursor(2, 1)
controller_1.screen.print("Ready")

column

column returns the current column where text will be printed on the Controller screen.

Usage:
controller_1.screen.column()

Parámetros	Descripción
	Este método no tiene parámetros.

# Print the current column number
controller_1.screen.set_cursor(2, 3)
controller_1.screen.print(controller_1.screen.column())

row

row returns the current row where text will be printed on the Controller screen.

Usage:
controller_1.screen.row()

Parámetros	Descripción
	Este método no tiene parámetros.

# Print the current row number
controller_1.screen.set_cursor(2, 3)
controller_1.screen.print(controller_1.screen.row())

clear_screen

clear_screen clears the Controller screen and moves the cursor back to the starting position.

Usage:
controller_1.screen.clear_screen()

Parámetros	Descripción
	Este método no tiene parámetros.

# Print text, then clear the Controller screen
controller_1.screen.print("VEX V5")
wait(2, SECONDS)
controller_1.screen.clear_screen()

clear_row

clear_row clears one row on the Controller screen.

Usage:
controller_1.screen.clear_row(row)

Parámetro	Descripción
row	Optional. The row to clear, from 1 to 3. If no row is provided, the current cursor row is cleared.

# Clear row 2 on the Controller screen
controller_1.screen.clear_row(2)

next_row

next_row moves the cursor to column 1 on the next row of the Controller screen. The next printed value will appear on that row.

Usage:
controller_1.screen.next_row()

Parámetros	Descripción
	Este método no tiene parámetros.

# Print on two rows
controller_1.screen.print("VEX V5")
controller_1.screen.next_row()
controller_1.screen.print("Controller")

Captadores

.pressing

.pressing returns whether a specific button on the Controller is currently being pressed. This method must be called on a specific button object, such as controller_1.buttonA.

• True — The specified button is being pressed.

• False — The specified button is not being pressed.

Uso:
Se puede utilizar uno de los objetos de botón disponibles con este método:

Botón	Dominio
buttonA	controller_1.buttonA.pressing() — The A button
buttonB	controller_1.buttonB.pressing() — The B button
buttonX	controller_1.buttonX.pressing() — The X button
buttonY	controller_1.buttonY.pressing() — The Y button
buttonDown	controller_1.buttonDown.pressing() — The Down button
buttonUp	controller_1.buttonUp.pressing() — The Up button
buttonLeft	controller_1.buttonLeft.pressing() — The Left button
buttonRight	controller_1.buttonRight.pressing() — The Right button
buttonL1	controller_1.buttonL1.pressing() — The L1 button
buttonL2	controller_1.buttonL2.pressing() — The L2 button
buttonR1	controller_1.buttonR1.pressing() — The R1 button
buttonR2	controller_1.buttonR2.pressing() — The R2 button

Parámetros	Descripción
	Este método no tiene parámetros.

# Turn right while L1 is pressed
while True:
    if controller_1.buttonL1.pressing():
        drivetrain.turn(RIGHT)
    else:
        drivetrain.stop()

    wait(20, MSEC)

.position

.position returns the position of a joystick axis as a number from -100 to 100.

This method must be called on a specific axis object, such as controller_1.axis1.

Uso:
Se puede utilizar uno de los objetos de eje disponibles con este método:

Eje	Dominio
axis1	controller_1.axis1.position() — The right joystick’s horizontal axis
axis2	controller_1.axis2.position() — The right joystick’s vertical axis
axis3	controller_1.axis3.position() — The left joystick’s vertical axis
axis4	controller_1.axis4.position() — The left joystick’s horizontal axis

Parámetros	Descripción
	Este método no tiene parámetros.

# Turn with the left joystick
remote_control_code_enabled = False

while True:
    if controller_1.axis4.position() > 10:
        drivetrain.turn(RIGHT)
    elif controller_1.axis4.position() < -10:
        drivetrain.turn(LEFT)
    else:
        drivetrain.stop()

    wait(20, MSEC)

Devoluciones de llamada

.pressed

.pressed runs a function when the specified button is pressed. Once it is used, the function will run automatically each time that button is pressed.

Uso:
Se puede utilizar uno de los objetos de botón disponibles con este método:

Botón	Dominio
buttonA	controller_1.buttonA.pressed(callback, arg) — The A button
buttonB	controller_1.buttonB.pressed(callback, arg) — The B button
buttonX	controller_1.buttonX.pressed(callback, arg) — The X button
buttonY	controller_1.buttonY.pressed(callback, arg) — The Y button
buttonDown	controller_1.buttonDown.pressed(callback, arg) — The Down button
buttonUp	controller_1.buttonUp.pressed(callback, arg) — The Up button
buttonLeft	controller_1.buttonLeft.pressed(callback, arg) — The Left button
buttonRight	controller_1.buttonRight.pressed(callback, arg) — The Right button
buttonL1	controller_1.buttonL1.pressed(callback, arg) — The L1 button
buttonL2	controller_1.buttonL2.pressed(callback, arg) — The L2 button
buttonR1	controller_1.buttonR1.pressed(callback, arg) — The R1 button
buttonR2	controller_1.buttonR2.pressed(callback, arg) — The R2 button

Parámetro	Descripción
callback	Una función definida previamente para ejecutarse cada vez que se presione el botón especificado.
arg	Opcional. Una tupla que contiene los argumentos que se pasarán a la función de devolución de llamada. Consulte Uso de eventos con parámetros para obtener más información.

# Drive forward when A is pressed
def drive_forward():
    drivetrain.drive_for(FORWARD, 100, MM)

controller_1.buttonA.pressed(drive_forward)

.released

.released runs a function when the specified button is released. Once it is used, the function will run automatically each time that button is released.

Uso:
Se puede utilizar uno de los objetos de botón disponibles con este método:

Botón	Dominio
buttonA	controller_1.buttonA.released(callback, arg) — The A button
buttonB	controller_1.buttonB.released(callback, arg) — The B button
buttonX	controller_1.buttonX.released(callback, arg) — The X button
buttonY	controller_1.buttonY.released(callback, arg) — The Y button
buttonDown	controller_1.buttonDown.released(callback, arg) — The Down button
buttonUp	controller_1.buttonUp.released(callback, arg) — The Up button
buttonLeft	controller_1.buttonLeft.released(callback, arg) — The Left button
buttonRight	controller_1.buttonRight.released(callback, arg) — The Right button
buttonL1	controller_1.buttonL1.released(callback, arg) — The L1 button
buttonL2	controller_1.buttonL2.released(callback, arg) — The L2 button
buttonR1	controller_1.buttonR1.released(callback, arg) — The R1 button
buttonR2	controller_1.buttonR2.released(callback, arg) — The R2 button

Parámetro	Descripción
callback	Una función definida previamente para ejecutarse cada vez que se suelte el botón especificado.
arg	Opcional. Una tupla que contiene los argumentos que se pasarán a la función de devolución de llamada. Consulte Uso de eventos con parámetros para obtener más información.

# Drive backward when A is released
def back_up():
    drivetrain.drive_for(REVERSE, 100, MM)

controller_1.buttonA.released(back_up)

.changed

.changed runs a function when the joystick’s position changes along the specified axis. Once it is used, the function will run automatically each time the joystick’s position changes along that axis.

Uso:
Se puede utilizar uno de los objetos de eje disponibles con este método:

Eje	Dominio
axis1	controller_1.axis1.changed(callback, arg) — The right joystick’s horizontal axis
axis2	controller_1.axis2.changed(callback, arg) — The right joystick’s vertical axis
axis3	controller_1.axis3.changed(callback, arg) — The left joystick’s vertical axis
axis4	controller_1.axis4.changed(callback, arg) — The left joystick’s horizontal axis

Parámetro	Descripción
callback	Una función definida previamente para ejecutarse cada vez que la posición del joystick cambie a lo largo del eje especificado.
arg	Opcional. Una tupla que contiene los argumentos que se pasarán a la función de devolución de llamada. Consulte Uso de eventos con parámetros para obtener más información.

# Play a sound when the left joystick moves
def tada_sound():
    brain.play_sound(SoundType.TADA)

controller_1.axis4.changed(tada_sound)

Constructores

Controller

Controller creates a Controller object. Manually creating a Controller object is only needed when configuring a controller outside of VEXcode.

Usage:
Controller(controller_type)

Parámetro	Descripción
controller_type	Optional. The Controller type to create: PRIMARY for the primary Controller connected to the Brain or PARTNER for the second Controller connected to the Brain.

# Create the primary Controller
controller_1 = Controller(PRIMARY)

# Create a partner Controller
controller_2 = Controller(PARTNER)