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。

For the examples below, the configured controller will be named controller_1 and will be used in all subsequent examples throughout this API documentation when referring to Controller class methods.

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.
set_cursor – Sets the cursor position used for printing text on the Controller’s screen.
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.
clear_screen – Clears the whole screen.
clear_row – Clears a screen row.
next_row – Moves the cursor to the beginning of the next row.
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的代码。

.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.

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.

# Rumble the V5 Controller to the pattern short-short-long-long.
controller.rumble('..--')

print #

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

用法：

controller.screen.print(text, sep, precision)

范围	描述
`text`	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.

# Print the number 1 on the screen.
controller.screen.print(1)

# Print the numbers 1, 2, 3 and 4 on the screen.
controller.screen.print(1, 2, 3, 4, sep='-')

# Print motor1's velocity on the screen using a format string.
controller.screen.print("motor1 : % 7.2f" %(motor1.velocity()))

set_cursor #

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

V5 Brain 屏幕显示可用于打印不同字体大小和设置的文本的行和列。

用法：

controller.screen.set_cursor(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。

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。

# Print the column number on row 2, column 3.
controller.screen.set_cursor(2, 3)
controller.screen.print(controller.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。

# Print the column number on row 2, column 3.
controller.screen.set_cursor(2, 3)
controller.screen.print(controller.screen.row())

clear_screen #

clear_screen clears the whole screen.

用法：

controller.screen.clear_screen()

参数	描述
	此方法没有参数。

# Print text and then clear the screen.
controller.screen.print("VEX V5")
wait(2, SECONDS)
controller.screen.clear_screen()

clear_row #

clear_row clears a screen row.

用法：

controller.screen.clear_row(row)

参数	描述
`row`	可选。要清除的行，范围从 1 到 3。默认值为当前光标所在行。

# Clear row 2.
controller.screen.clear_row(2)

next_row #

next_row moves the cursor to the beginning of the next row.

用法：

controller.screen.next_row()

参数	描述
	此方法没有参数。

# Print text and then clear row 2.
controller.screen.print("VEX V5")
controller.screen.next_row()
controller.screen.print("Controller")

remote_control_code_enabled #

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 = False

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

while True:
    if controller_1.axis3.position() > 0:
        drivetrain.drive(FORWARD)
    elif controller_1.axis3.position() < 0:
        drivetrain.drive(REVERSE)
    # Press A to use the controller configured actions
    elif controller_1.buttonA.pressing():
        break
    else:
        drivetrain.stop()
    wait(20, MSEC)

remote_control_code_enabled = 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 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：
此方法可以使用十二种可用按钮对象之一，如下所示：

VEX V5 控制器按钮以黄色高亮显示。

按钮	命令
`buttonA`	`controller_1.buttonA.pressing()` — The A button
`buttonB`	`controller_1.buttonB.pressing()` — The B button
`buttonX`	`controller_1.buttonX.pressing()` — The X button
`buttonY`	`controller_1.buttonY.pressing()` — The Y button
`buttonDown`	`controller_1.buttonDown.pressing()` — The Down button
`buttonUp`	`controller_1.buttonUp.pressing()` — The Up button
`buttonLeft`	`controller_1.buttonLeft.pressing()` — The Left button
`buttonRight`	`controller_1.buttonRight.pressing()` — The Right button
`buttonL1`	`controller_1.buttonL1.pressing()` — The L1 button
`buttonL2`	`controller_1.buttonL2.pressing()` — The L2 button
`buttonR1`	`controller_1.buttonR1.pressing()` — The R1 button
`buttonR2`	`controller_1.buttonR2.pressing()` — The R2 button

参数	描述
	此方法没有参数。

# Turn right while L1 is pressed
while True:
    if controller_1.buttonL1.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 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：

VEX V5 控制器轴以黄色高亮显示。

轴	命令
`axis1`	`controller_1.axis1.position()` — The Right Joystick’s vertical axis
`axis2`	`controller_1.axis2.position()` — The Right Joystick’s horizontal axis
`axis3`	`controller_1.axis3.position()` — The Left Joystick’s horizontal axis
`axis4`	`controller_1.axis4.position()` — The Left Joystick’s vertical axis

参数	描述
	此方法没有参数。

# Turn with the left joystick
remote_control_code_enabled = False

while True:
    if controller_1.axis4.position() > 10:
        drivetrain.turn(RIGHT)
    elif controller_1.axis4.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：
此方法可以使用一个可用的按钮对象，如下所示：

VEX V5 控制器按钮以黄色高亮显示。

按钮	命令
`buttonA`	`controller_1.buttonA.pressed(callback, arg)` — The A button
`buttonB`	`controller_1.buttonB.pressed(callback, arg)` — The B button
`buttonX`	`controller_1.buttonX.pressed(callback, arg)` — The X button
`buttonY`	`controller_1.buttonY.pressed(callback, arg)` — The Y button
`buttonDown`	`controller_1.buttonDown.pressed(callback, arg)` — The Down button
`buttonUp`	`controller_1.buttonUp.pressed(callback, arg)` — The Up button
`buttonLeft`	`controller_1.buttonLeft.pressed(callback, arg)` — The Left button
`buttonRight`	`controller_1.buttonRight.pressed(callback, arg)` — The Right button
`buttonL1`	`controller_1.buttonL1.pressed(callback, arg)` — The L1 button
`buttonL2`	`controller_1.buttonL2.pressed(callback, arg)` — The L2 button
`buttonR1`	`controller_1.buttonR1.pressed(callback, arg)` — The R1 button
`buttonR2`	`controller_1.buttonR2.pressed(callback, arg)` — The R2 button

参数	描述
打回来	一个预先定义好的函数，当按下指定的按钮时执行。
参数	可选。包含要传递给回调函数的参数的元组。带参数的函数提供更多信息。

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

controller_1.buttonA.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 buttonL1 – (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：

VEX V5 控制器按钮以黄色高亮显示。

按钮	命令
`buttonA`	`controller_1.buttonA.released(callback, arg)` — The A button
`buttonB`	`controller_1.buttonB.released(callback, arg)` — The B button
`buttonX`	`controller_1.buttonX.released(callback, arg)` — The X button
`buttonY`	`controller_1.buttonY.released(callback, arg)` — The Y button
`buttonDown`	`controller_1.buttonDown.released(callback, arg)` — The Down button
`buttonUp`	`controller_1.buttonUp.released(callback, arg)` — The Up button
`buttonLeft`	`controller_1.buttonLeft.released(callback, arg)` — The Left button
`buttonRight`	`controller_1.buttonRight.released(callback, arg)` — The Right button
`buttonL1`	`controller_1.buttonL1.released(callback, arg)` — The L1 button
`buttonL2`	`controller_1.buttonL2.released(callback, arg)` — The L2 button
`buttonR1`	`controller_1.buttonR1.released(callback, arg)` — The R1 button
`buttonR2`	`controller_1.buttonR2.released(callback, arg)` — The R2 button

参数	描述
打回来	一个预先定义好的函数，当指定的按钮被释放时执行。
参数	可选。包含要传递给回调函数的参数的元组。带参数的函数提供更多信息。

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

controller_1.buttonA.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 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：

VEX V5 控制器轴以黄色高亮显示。

轴	命令
`axis1`	`controller_1.axis1.changed(callback, arg)` — The Right Joystick’s vertical axis
`axis2`	`controller_1.axis2.changed(callback, arg)` — The Right Joystick’s horizontal axis
`axis3`	`controller_1.axis3.changed(callback, arg)` — The Left Joystick’s horizontal axis
`axis4`	`controller_1.axis4.changed(callback, arg)` — The Left Joystick’s vertical axis

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

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

controller_1.axis4.changed(tada_sound)

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_type)

参数	描述
`controller_type`	Optional.The type of controller to create. `PRIMARY` (Default) - The primary controller. `PARTNER` - The partner controller.

参数

描述

controller_type

Optional.The type of controller to create.

PRIMARY (Default) - The primary controller.
PARTNER - The partner controller.

# Create a Controller
controller_1 = Controller(PRIMARY)

# Create two Controllers
controller_1 = Controller(PRIMARY)
controller_2 = Controller(PARTNER)