控制器

介绍

V5 主机可以连接到 V5 控制器。V5 控制器有两个模拟摇杆和多个按钮，主机可以通过这些按钮来检测动作和按键操作。

This page uses Controller1 as the example V5 Controller name. Replace these with your own configured name as needed.

以下是所有可用方法的列表：

操作 — 开启或关闭控制器编程的操作。

• rumble — Sends a rumble string to the V5 Controller.

• print — Prints text on the Controller’s screen.

• setCursor — Sets the cursor position used for printing text on the Controller’s screen.

• newLine — Moves the cursor to the beginning of the next row.

• clearScreen — Clears the whole screen.

• clearLine — Clears a screen row.

• RemoteControlCodeEnabled — 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.

• column — Returns the current column where text will be printed as an integer.

• row — Returns the current row where text will be printed as an integer.

回调函数——当按钮或摇杆状态改变时运行代码。

• .pressed — Registers a callback function for when the specified button is pressed.

• .released — Registers a callback function for when the specified button is released.

• .changed — Registers a callback function for 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.

行动

rumble

rumble sends a rumble string to the V5 Controller.

用法：

Controller.rumble(pattern);

范围	描述
pattern	A pattern using . and - for short and long rumbles.

int main() {
    // Initializing Robot Configuration. DO NOT REMOVE!
    vexcodeInit();
    // Rumble the V5 Controller to the pattern short-short-long-long.
    Controller1.rumble("..--");
}

print

print prints text on the controller’s screen using the current cursor position.

用法：

Controller.Screen.print(value, sep, precision);

范围	描述
value	控制器屏幕上要打印的文本。
sep	Optional. A string to inset between values. This must be written as a keyword argument (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 (precision=). The default is 2.

int main() {
    // Initializing Robot Configuration. DO NOT REMOVE!
    vexcodeInit();
    // Print the number 1 on the screen.
    Controller1.Screen.print(1);
}

int main() {
    // Initializing Robot Configuration. DO NOT REMOVE!
    vexcodeInit();  
    // Print the numbers 1, 2, 3 and 4 on the screen.
    Controller1.Screen.print("1, 2, 3, 4");
}

int main() {
    // Initializing Robot Configuration. DO NOT REMOVE!
    vexcodeInit();
    // Print the number 1 on the screen.
    Motor1.spin(forward);
    wait(2,seconds);
    Controller1.Screen.print("motor1 : %7.2f", Motor1.velocity(percent));
}

setCursor

setCursor sets the cursor to a specific row and column on the controller’s screen. The controller screen has 3 rows and 19 columns.

用法：

Controller.Screen.setCursor(row, col);

范围	描述
row	光标所在行的第 1 行到第 3 行。
col	光标所在列，从 1 到 19。

newLine

newLine method moves the cursor to the beginning of the next line.

用法：

Controller.Screen.newLine();

参数	描述
	此方法没有参数。

int main() {
    // Initializing Robot Configuration. DO NOT REMOVE!
    vexcodeInit();
    
    // Clear screen to print to multiple lines
    Controller1.Screen.clearScreen();
    Controller1.Screen.setCursor(1,1);

    // Print text on both rows
    Controller1.Screen.print("VEX V5");
    Controller1.Screen.newLine();
    Controller1.Screen.print("Controller");
}

clearScreen

clearScreen clears the whole screen.

用法：

Controller.Screen.clearScreen();

参数	描述
	此方法没有参数。

int main() {
    // Initializing Robot Configuration. DO NOT REMOVE!
    vexcodeInit();

    // Print text and then clear the screen.
    Controller1.Screen.print("VEX V5");
    wait(2000, msec);
    Controller1.Screen.clearScreen();
}

clearLine

clearLine clears a screen row.

默认用法：

Controller.Screen.clearLine(line);

Overload Usages: Controller.Screen.clearLine();

参数	描述
line	要清除的行号为 1 到 3。如果未指定，则清除当前行。

int main() {
    // Initializing Robot Configuration. DO NOT REMOVE!
    vexcodeInit();
    
    // Clear screen to print to multiple lines
    Controller1.Screen.clearScreen();
    Controller1.Screen.setCursor(1,1);

    // Print text 
    Controller1.Screen.print("VEX V5");
    Controller1.Screen.newLine();
    Controller1.Screen.print("Controller");
    wait(2000, msec);

    // Clear row 2.
    Controller1.Screen.clearLine(2);
}

RemoteControlCodeEnabled

RemoteControlCodeEnabled 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: RemoteControlCodeEnabled = false;

int main() {
    // Initializing Robot Configuration. DO NOT REMOVE!
    vexcodeInit();
    
    // Drive forward or backward using the left joystick
    RemoteControlCodeEnabled = false;

    while (true) {
        if (Controller1.Axis3.position() > 0) {
            Drivetrain.drive(forward);
        } else if (Controller1.Axis3.position() < 0) {
            Drivetrain.drive(reverse);
        // Press A to use the controller configured actions
        } else if (Controller1.ButtonA.pressing()) {
            break;
        } else {
            Drivetrain.stop();
        }
        wait(20, msec);
    }
    RemoteControlCodeEnabled = true;
}

获取器

.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 ButtonDown (see full list of button objects below).

• 1 — The specified button is being pressed.

• 0 — The specified button is not being pressed.

用法：
此方法可以使用十二种可用按钮对象之一，如下所示：

按钮	命令
ButtonA	Controller.ButtonA.pressing() — The A button
ButtonB	Controller.ButtonB.pressing() — The B button
ButtonX	Controller.ButtonX.pressing() — The X button
ButtonY	Controller.ButtonY.pressing() — The Y button
ButtonDown	Controller.ButtonDown.pressing() — The Down button
ButtonUp	Controller.ButtonUp.pressing() — The Up button
ButtonLeft	Controller.ButtonLeft.pressing() — The Left button
ButtonRight	Controller.ButtonRight.pressing() — The Right button
ButtonL1	Controller.ButtonL1.pressing() — The L1 button
ButtonL2	Controller.ButtonL2.pressing() — The L2 button
ButtonR1	Controller.ButtonR1.pressing() — The R1 button
ButtonR2	Controller.ButtonR2.pressing() — The R2 button

参数	描述
	此方法没有参数。

int main() {
    // Initializing Robot Configuration. DO NOT REMOVE!
    vexcodeInit();
    // Turn right while L1 is pressed
    while (true) {
        if (Controller1.ButtonL1.pressing()) {
            Drivetrain.turn(right);
        } else {
            Drivetrain.stop();
        }
        wait(5, msec);
    }
}

.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 Axis1 (see full list of axis objects below).

用法：

该方法可以使用以下四个可用坐标轴之一：

轴	命令
Axis1	Controller.Axis1.position() — The Right Joystick’s vertical axis
Axis2	Controller.Axis2.position() — The Right Joystick’s horizontal axis
Axis3	Controller.Axis3.position() — The Left Joystick’s horizontal axis
Axis4	Controller.Axis4.position() — The Left Joystick’s vertical axis

参数	描述
	此方法没有参数。

int main() {
    // Initializing Robot Configuration. DO NOT REMOVE!
    vexcodeInit();
      
    // Turn with the left joystick
    RemoteControlCodeEnabled = false;

    while (true) {
        if (Controller1.Axis4.position() > 10) {
            Drivetrain.turn(right);
        } else if (Controller1.Axis4.position() < -10) {
            Drivetrain.turn(left);
        } else {
            Drivetrain.stop();
        }
        wait(20, msec);
    }
}

column

column returns the current column where text will be printed as an integer.

用法：

Controller.Screen.column()

参数	描述
	此方法没有参数。

int main() {
    // Initializing Robot Configuration. DO NOT REMOVE!
    vexcodeInit();

    // Clear screen
    Controller1.Screen.clearScreen();

    // Print the column number on row 2, column 3.
    Controller1.Screen.setCursor(2, 3);
    Controller1.Screen.print(Controller1.Screen.column());
}

row

row returns the current row where text will be printed as an integer.

用法：

Controller.Screen.row()

参数	描述
	此方法没有参数。

int main() {
    // Initializing Robot Configuration. DO NOT REMOVE!
    vexcodeInit();
      
    // Clear screen
    Controller1.Screen.clearScreen();

    // Print the column number on row 2, column 3.
    Controller1.Screen.setCursor(2, 3);
    Controller1.Screen.print(Controller1.Screen.row());
}

打回来

.pressed

.pressed registers a callback function that runs when a specific button on the controller is pressed. This method must be called on a specific button object, such as ButtonDown — (see full list of button objects below).

用法：
此方法可以使用一个可用的按钮对象，如下所示：

按钮	命令
ButtonA	Controller.ButtonA.pressed(callback); — The A button
ButtonB	Controller.ButtonB.pressed(callback); — The B button
ButtonX	Controller.ButtonX.pressed(callback); — The X button
ButtonY	Controller.ButtonY.pressed(callback); — The Y button
ButtonDown	Controller.ButtonDown.pressed(callback); — The Down button
ButtonUp	Controller.ButtonUp.pressed(callback); — The Up button
ButtonLeft	Controller.ButtonLeft.pressed(callback); — The Left button
ButtonRight	Controller.ButtonRight.pressed(callback); — The Right button
ButtonL1	Controller.ButtonL1.pressed(callback); — The L1 button
ButtonL2	Controller.ButtonL2.pressed(callback); — The L2 button
ButtonR1	Controller.ButtonR1.pressed(callback); — The R1 button
ButtonR2	Controller.ButtonR2.pressed(callback); — The R2 button

参数	描述
callback	预先定义的回调函数，当轴值发生变化时会自动调用。该函数必须符合所需的回调函数签名。有关更多信息，请参阅回调函数。

Callback Signature:
void callback();

论点	描述
	此回调函数没有参数。

// Drive forward when A is pressed
void driveForward() {
    Drivetrain.driveFor(forward, 100, mm);
}

int main() {
    // Initializing Robot Configuration. DO NOT REMOVE!
    vexcodeInit();
    // Call driveForward when the A button is pressed
    Controller1.ButtonA.pressed(driveForward);
}

.released

.released registers a callback function that runs when a specific button on the controller is released. This method must be called on a specific button object, such as ButtonDown — (see full list of button objects below).

用法：
此方法可以使用一个可用的按钮对象，如下所示：

按钮	命令
ButtonA	Controller.ButtonA.released(callback); — The A button
ButtonB	Controller.ButtonB.released(callback); — The B button
ButtonX	Controller.ButtonX.released(callback); — The X button
ButtonY	Controller.ButtonY.released(callback); — The Y button
ButtonDown	Controller.ButtonDown.released(callback); — The Down button
ButtonUp	Controller.ButtonUp.released(callback); — The Up button
ButtonLeft	Controller.ButtonLeft.released(callback); — The Left button
ButtonRight	Controller.ButtonRight.released(callback); — The Right button
ButtonL1	Controller.ButtonL1.released(callback); — The L1 button
ButtonL2	Controller.ButtonL2.released(callback); — The L2 button
ButtonR1	Controller.ButtonR1.released(callback); — The R1 button
ButtonR2	Controller.ButtonR2.released(callback); — The R2 button

参数	描述
callback	预先定义的回调函数，当轴值发生变化时会自动调用。该函数必须符合所需的回调函数签名。有关更多信息，请参阅回调函数。

Callback Signature:
void callback();

论点	描述
	此回调函数没有参数。

// Drive backward when A is released
void backUp() {
    Drivetrain.driveFor(reverse, 100, mm);
}

int main() {
    // Initializing Robot Configuration. DO NOT REMOVE!
    vexcodeInit();
    // Call backUp when the A button is released
    Controller1.ButtonA.released(backUp);
}

.changed

.changed registers a callback function that runs when the joystick’s position changes. This method must be called on a specific axis object, such as Axis1 (see full list of axis objects below).

用法：
此方法可以使用以下所示的四个可用轴之一：

轴	命令
Axis1	Controller.Axis1.changed(callback); — The Right Joystick’s vertical axis
Axis2	Controller.Axis2.changed(callback); — The Right Joystick’s horizontal axis
Axis3	Controller.Axis3.changed(callback); — The Left Joystick’s horizontal axis
Axis4	Controller.Axis4.changed(callback); — The Left Joystick’s vertical axis

参数	描述
callback	预先定义的回调函数，当轴值发生变化时会自动调用。该函数必须符合所需的回调函数签名。有关更多信息，请参阅回调函数。

Callback Signature:
void callback();

论点	描述
	此回调函数没有参数。

// Play a rumble pattern when the left joystick moves
void rumblePattern() {    
    Controller1.rumble("..--");
    wait(1, seconds);
}

int main() {
    // Initializing Robot Configuration. DO NOT REMOVE!
    vexcodeInit();
    // Call the rumble function when the left joystick moves
    Controller1.Axis4.changed(rumblePattern);
}

构造函数

Constructors are used to manually create controller objects, which are necessary for configuring a controller outside of VEXcode. You can only create two controllers in a project.

controller

controller creates a controller.

Usage:
controller Controller = controller(controller_type);

参数	描述
controller_type	The type of controller to create. primary - The primary controller. partner - The partner controller.

// Create a controller
controller Controller = controller(primary);

// Create two controllers
controller Controller1 = controller(primary);
controller Controller2 = controller(partner);