控制器#

介绍 #

VEX IQ（第二代）控制器配备按钮和两个摇杆。控制器方法可用于检测按钮按下、读取摇杆移动、启用或禁用已配置的控制器操作，或在控制器事件发生时运行相关函数。

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。第一代 IQ 控制器必须安装蓝色智能无线电模块。

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 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 — 启用或禁用已配置的控制器操作。

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

Getter 函数——读取按钮状态和摇杆位置。

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

回调函数——当控制器输入发生变化时运行的函数。

.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.

构造函数 — 手动创建 Controller 对象。

Controller — Creates a Controller object.

行动 #

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

价值	描述
`True`	启用控制器配置的操作。
`False`	禁用控制器配置的操作。

# Use custom controller code, then re-enable configured actions
remote_control_code_enabled = False

while True:
    if controller.axisA.position() > 0:
        drivetrain.drive(FORWARD)
    elif controller.axisA.position() < 0:
        drivetrain.drive(REVERSE)
    elif controller.buttonEUp.pressing():
        break
    else:
        drivetrain.stop()

    wait(20, MSEC)

remote_control_code_enabled = True

吸气剂 #

.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.buttonEUp.

True — The specified button is being pressed.
False — The specified button is not being pressed.

用法：
此方法可以使用其中一个可用的按钮对象：

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()

    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.axisA.

用法：
此方法可以使用其中一个可用的轴对象：

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)

回调函数 #

.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.

用法：
此方法可以使用其中一个可用的按钮对象：

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) Controller 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) Controller only
`buttonRDown`	`controller.buttonRDown.pressed(callback, arg)` — The R ▼ button
`buttonRUp`	`controller.buttonRUp.pressed(callback, arg)` — The R ▲ button

范围	描述
`callback`	预先定义的函数，每次按下指定的按钮时运行。
`arg`	可选。包含要传递给回调函数的参数的元组。有关更多信息，请参阅使用带参数的事件。

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

controller.buttonEUp.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.

用法：
此方法可以使用其中一个可用的按钮对象：

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

范围	描述
`callback`	预先定义的函数，每次释放指定的按钮时运行。
`arg`	可选。包含要传递给回调函数的参数的元组。有关更多信息，请参阅使用带参数的事件。

# Stop driving when E Up is released
def stop_driving():
    drivetrain.stop()

controller.buttonEUp.released(stop_driving)

.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.

用法：
此方法可以使用其中一个可用的轴对象：

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

范围	描述
`callback`	预先定义的函数，每次操纵杆的位置沿指定轴发生变化时运行。
`arg`	可选。包含要传递给回调函数的参数的元组。有关更多信息，请参阅使用带参数的事件。

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

controller.axisD.changed(beep)

构造函数 #

Controller #

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

Usage:
Controller()

参数	描述
	此构造函数没有参数。

# Create a Controller object
my_controller = Controller()