控制器#

介绍 #

第二代 IQ 大脑可以连接到第二代 IQ 控制器或第一代 IQ 控制器。两个控制器都配有两个模拟摇杆和多个按钮Sensing/Brain.md大脑可以利用这些按钮来检测动作和按压。

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

以下是所有可用方法的列表：

操作 — 开启或关闭控制器配置的操作。

remote_control_code_enabled — Enable or disable controller configured actions.

Getter 函数——读取按钮状态和摇杆位置。

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

回调函数——当按钮或摇杆状态改变时运行代码。

.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.

构造函数——手动初始化和配置控制器。

Controller — Create a controller.

remote_control_code_enabled 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:
remote_control_code_enabled

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

while True:
    if controller.axisA.position() > 0:
        drivetrain.drive(FORWARD)
    elif controller.axisA.position() < 0:
        drivetrain.drive(REVERSE)
    # Press E Up to use the controller configured actions
    elif controller.buttonEUp.pressing():
        break
    else:
        drivetrain.stop()
    wait(20, MSEC)

remote_control_code_enabled = True

吸气剂 #

.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.

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：

IQ 第二代控制器的正面和背面视图，所有按钮均以黄色高亮显示。控制器表面左上角和右上角各有两个摇杆按钮，左侧摇杆下方有 E 上下键，右侧摇杆下方有 F 上下键。控制器背面左侧和右侧分别有 L 上下键和 R 上下键。

按钮	命令
`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

参数	描述
	该方法没有参数。

# Turn right while E Up is held
while True:
    if controller.buttonEUp.pressing():
        drivetrain.turn(RIGHT)
    else:
        drivetrain.stop()

.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).

用法：

此方法可使用四个可用轴之一，如下所示：

图中高亮显示了第二代 IQ 控制器的四个摇杆轴。左侧摇杆的 A 轴为垂直轴，B 轴为水平轴。右侧摇杆的 C 轴为水平轴，D 轴为垂直轴。

轴	命令
`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

参数	描述
	该方法没有参数。

# Turn with the left joystick
remote_control_code_enabled = False

while True:
    if controller.axisB.position() > 10:
        drivetrain.turn(RIGHT)
    elif controller.axisB.position() < -10:
        drivetrain.turn(LEFT)
    else:
        drivetrain.stop()
    wait(20, MSEC)

打回来 #

.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).

用法：
可以使用此方法使用其中一个可用的按钮对象，如下所示：

按钮	命令
`buttonEDown`	`controller.buttonEDown.pressed(callback, arg)` — The E ▼ button
`buttonEUp`	`controller.buttonEUp.pressed(callback, arg)` — The E ▲ button
`buttonFDown`	`controller.buttonFDown.pressed(callback, arg)` — The F ▼ button
`buttonFUp`	`controller.buttonFUp.pressed(callback, arg)` — The F ▲ button
`buttonL3`	`controller.buttonL3.pressed(callback, arg)` — The Left Joystick button - IQ (2nd gen) only
`buttonLDown`	`controller.buttonLDown.pressed(callback, arg)` — The L ▼ button
`buttonLUp`	`controller.buttonLUp.pressed(callback, arg)` — The L ▲ button
`buttonR3`	`controller.buttonR3.pressed(callback, arg)` — The Right Joystick button - IQ (2nd gen) only
`buttonRDown`	`controller.buttonRDown.pressed(callback, arg)` — The R ▼ button
`buttonRUp`	`controller.buttonRUp.pressed(callback, arg)` — The R ▲ button

参数	描述
`callback`	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，请参阅带参数的函数。

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

controller.buttonEUp.pressed(drive_forward)

.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).

用法：
可以使用此方法使用其中一个可用的按钮对象，如下所示：

按钮	命令
`buttonEDown`	`controller.buttonEDown.released(callback, arg)` — The E ▼ button
`buttonEUp`	`controller.buttonEUp.released(callback, arg)` — The E ▲ button
`buttonFDown`	`controller.buttonFDown.released(callback, arg)` — The F ▼ button
`buttonFUp`	`controller.buttonFUp.released(callback, arg)` — The F ▲ button
`buttonL3`	`controller.buttonL3.released(callback, arg)` — The Left Joystick button - IQ (2nd gen) Controller only
`buttonLDown`	`controller.buttonLDown.released(callback, arg)` — The L ▼ button
`buttonLUp`	`controller.buttonLUp.released(callback, arg)` — The L ▲ button
`buttonR3`	`controller.buttonR3.released(callback, arg)` — The Right Joystick button - IQ (2nd gen) Controller only
`buttonRDown`	`controller.buttonRDown.released(callback, arg)` — The R ▼ button
`buttonRUp`	`controller.buttonRUp.released(callback, arg)` — The R ▲ button

参数	描述
`callback`	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，请参阅带参数的函数。

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

controller.buttonFDown.released(back_up)

.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).

用法：
可以使用此方法的四个可用轴之一，如下所示：

图中高亮显示了第二代 IQ 控制器的四个摇杆轴。左侧摇杆的 A 轴为垂直轴，B 轴为水平轴。右侧摇杆的 C 轴为水平轴，D 轴为垂直轴。

轴	命令
`axisA`	`controller.axisA.changed(callback, arg)` — The Left Joystick’s vertical axis
`axisB`	`controller.axisB.changed(callback, arg)` — The Left Joystick’s horizontal axis
`axisC`	`controller.axisC.changed(callback, arg)` — The Right Joystick’s horizontal axis
`axisD`	`controller.axisD.changed(callback, arg)` — The Right Joystick’s vertical axis

参数	描述
`callback`	先前定义的当轴的值发生变化时执行的函数。
`arg`	可选。包含要传递给回调函数的参数的元组。更多信息，请参阅带参数的函数。

# Play a sound when the right joystick moves
def beep():
    brain.play_sound(SoundType.TADA)
    wait(1, SECONDS)

controller.axisD.changed(beep)

构造函数 #

Constructors are used to manually create Controller objects, which are necessary for configuring a controller outside of VEXcode.

Controller #

Controller creates a controller.

Usage:
Controller()

参数	描述
	此构造函数没有参数。

# Create a Controller object
my_controller = Controller()