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.

<Controller [L1 v] pressed?>

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

Example

  when started
  [Drive forward while X is pressed.]
  forever
  if <Controller [R1 v] pressed?> then
  drive [forward v]
  else
  stop driving

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.

  (Controller [1 v] position)

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

Example

  when started
  [Drive forward while the left joystick is pushed up.]
  forever
  if <(Controller [3 v] position) [math_greater_than v] [0]> then
  drive [forward v]
  else
  stop driving

Controller enable/disable

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

  Controller [Disable v]

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

    when started
    [Disable controller configured actions until drive is done.]
    Controller [Disable v]
    drive [forward v] for (6) [inches v] ▶
    Controller [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.

  when Controller button [L1 v] [pressed 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

  when Controller button [A v] [pressed v] :: hat events
  [Drive forward 50 mm whenever the A button is pressed]
  drive [forward v] for [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.]
  if <(Controller [3 v] position) [math_greater_than v] [0]> then
  drive [forward v]
  else if <(Controller [3 v] position) [math_less_than v] [0]> then
  drive [reverse v]
  else
  stop driving