控制器#

介绍 #

单摇杆控制器采用 4 键布局，并配备一个摇杆，摇杆既可用作模拟输入，又可用作可按压按钮。这些输入使机器人能够检测按钮按下和摇杆移动，从而实现交互式、灵敏的控制。以下列出了所有可用方法：

Getters – 读取按钮、操纵杆和连接状态。

.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.

回调——响应按钮或操纵杆输入变化。

.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.

.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.

用法：
五个可用按钮对象之一可与此方法一起使用，如下所示：

按钮	命令
`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

参数	描述
	该方法没有参数。

# 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.

用法：

此方法可使用两个可用轴之一，如下所示：

轴	命令
`axis1`	`controller.axis1.position()` — The vertical axis
`axis2`	`controller.axis2.position()` — The horizontal axis

参数	描述
	该方法没有参数。

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.

用法：

controller.is_connected()

参数	描述
	该方法没有参数。

# 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.

用法：

controller.get_battery_level()

参数	描述
	该方法没有参数。

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

回调 #

.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).

用法：
五个可用按钮对象之一可与此方法一起使用，如下所示：

按钮	命令
`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

参数	描述
打回来	先前定义的在按下指定按钮时执行的函数。
arg	可选。包含要传递给回调函数的参数的元组。更多信息请参阅使用带参数的事件。

# 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).

用法：
五个可用按钮对象之一可与此方法一起使用，如下所示：

按钮	命令
`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

参数	描述
打回来	先前定义的在释放指定按钮时执行的函数。
arg	可选。包含要传递给回调函数的参数的元组。更多信息请参阅使用带参数的事件。

# 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.

用法：
此方法可以使用两个可用轴之一，如下所示：

轴	命令
`axis1`	`controller.axis1.changed(callback, arg)` — The vertical axis
`axis2`	`controller.axis2.changed(callback, arg)` — The horizontal axis

参数	描述
打回来	先前定义的函数，当轴的值发生变化时执行。
arg	可选。包含要传递给回调函数的参数的元组。更多信息请参阅使用带参数的事件。

# 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)

控制器#

介绍 #

吸气剂 #

.pressing #

.position #

is_connected #

get_battery_level #

回调 #

.pressed #

.released #

.changed #