Python Examples

from pybricks.hubs import PrimeHub
from pybricks.parameters import Icon
from pybricks.tools import wait

# PrimeHub also works on the MINDSTORMS Robot Inventor hub
hub = PrimeHub()

# Show one character
hub.display.char("A")
wait(1000)

# Show a built-in image
hub.display.icon(Icon.HAPPY)
wait(2000)

# Draw your own image: one brightness value (0 to 100) per pixel
smile = [
    [0, 100, 0, 100, 0],
    [0, 100, 0, 100, 0],
    [0, 0, 0, 0, 0],
    [100, 0, 0, 0, 100],
    [0, 100, 100, 100, 0],
]
hub.display.icon(smile)
wait(2000)

# Show text one character at a time (the lights turn off after the last one)
hub.display.text("HELLO")

from pybricks.pupdevices import Motor
from pybricks.parameters import Port
from pybricks.tools import wait

motor = Motor(Port.A)

# Count degrees from where the motor is now
motor.reset_angle(0)

# Turn one full rotation at 500 degrees per second
motor.run_angle(500, 360)
wait(500)

# Run at 500 degrees per second for 2 seconds (time is in milliseconds)
motor.run_time(500, 2000)
wait(500)

# Run until told to stop
motor.run(300)
wait(2000)
motor.stop()

# Go back to the starting position
motor.run_target(500, 0)

# Read the rotation angle in degrees
print("Motor angle:", motor.angle())

from pybricks.pupdevices import Motor
from pybricks.parameters import Port, Direction
from pybricks.robotics import DriveBase
from pybricks.tools import wait

# Left motor on port A, right motor on port B. The left motor is
# mirrored, so it turns counterclockwise to drive forward.
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
right_motor = Motor(Port.B)

# Measure your own robot: wheel diameter and axle track in millimeters
robot = DriveBase(left_motor, right_motor, wheel_diameter=56, axle_track=112)

# Drive forward 200 mm, then back
robot.straight(200)
robot.straight(-200)

# Turn in place (positive = right, negative = left)
robot.turn(90)
robot.turn(-90)

# Curve: 100 mm/s forward while turning right at 45 degrees per second
robot.drive(100, 45)
wait(2000)
robot.stop()

# Spin in place: no forward speed, 90 degrees per second
robot.drive(0, 90)
wait(1000)
robot.stop()

from pybricks.pupdevices import ColorSensor
from pybricks.parameters import Port, Color
from pybricks.tools import wait

sensor = ColorSensor(Port.C)

# Detected color: by default Color.RED, YELLOW, GREEN, BLUE, WHITE or NONE
print("Color:", sensor.color())

# Reflected light, 0 to 100 percent (higher = lighter surface)
print("Reflection:", sensor.reflection())

# Ambient light, 0 to 100 percent
print("Ambient:", sensor.ambient())

# Hue (0 to 359), saturation and brightness (0 to 100)
hsv = sensor.hsv()
print("Hue:", hsv.h, "Saturation:", hsv.s, "Brightness:", hsv.v)

# Wait until the sensor sees red
while sensor.color() != Color.RED:
    wait(10)
print("Red detected!")

# React to colors as they appear
while True:
    color = sensor.color()
    if color == Color.RED:
        print("STOP!")
        break
    elif color == Color.GREEN:
        print("GO!")
    wait(100)

from pybricks.pupdevices import Motor, UltrasonicSensor
from pybricks.parameters import Port, Direction
from pybricks.robotics import DriveBase
from pybricks.tools import wait

eyes = UltrasonicSensor(Port.D)
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
right_motor = Motor(Port.B)
robot = DriveBase(left_motor, right_motor, wheel_diameter=56, axle_track=112)

# Distance in millimeters (2000 when nothing is in range)
print("Distance:", eyes.distance(), "mm")

# Light all four segments around the eyes, then two of them
eyes.lights.on(100)
wait(1000)
eyes.lights.on([100, 100, 0, 0])
wait(1000)
eyes.lights.off()

# Wait until something is closer than 100 mm
while eyes.distance() > 100:
    wait(10)
print("Object within 10 cm!")

# Simple obstacle avoidance
SAFE_DISTANCE = 200  # mm

while True:
    if eyes.distance() > SAFE_DISTANCE:
        robot.drive(150, 0)
    else:
        robot.stop()
        robot.turn(90)
    wait(10)

from pybricks.pupdevices import Motor, ColorSensor
from pybricks.parameters import Port, Direction
from pybricks.robotics import DriveBase
from pybricks.tools import wait

left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
right_motor = Motor(Port.B)
sensor = ColorSensor(Port.C)
robot = DriveBase(left_motor, right_motor, wheel_diameter=56, axle_track=112)

# Calibrate: print sensor.reflection() over the line and over the mat
BLACK = 10
WHITE = 90
TARGET = (BLACK + WHITE) / 2  # the edge of the line

# PID gains: starting points to tune
KP = 1.2  # degrees per second of turn per point of error
KI = 0.0  # add a little if the robot drifts on long curves
KD = 0.0  # add some to damp side-to-side wobble

DRIVE_SPEED = 100  # mm/s

integral = 0
last_error = 0

while True:
    error = sensor.reflection() - TARGET
    integral += error
    derivative = error - last_error

    turn_rate = KP * error + KI * integral + KD * derivative
    robot.drive(DRIVE_SPEED, turn_rate)

    last_error = error
    wait(10)

from pybricks.hubs import PrimeHub
from pybricks.pupdevices import Motor
from pybricks.parameters import Port, Direction
from pybricks.robotics import DriveBase
from pybricks.tools import wait

hub = PrimeHub()
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
right_motor = Motor(Port.B)
robot = DriveBase(left_motor, right_motor, wheel_diameter=56, axle_track=112)

# Heading in degrees: 0 at program start, positive = clockwise.
# It keeps counting past 180 instead of wrapping around.
print("Heading:", hub.imu.heading())

# Tilt in degrees
pitch, roll = hub.imu.tilt()
print("Pitch:", pitch, "Roll:", roll)

# Let the drive base use the gyro for straight lines and turns
robot.use_gyro(True)

robot.straight(300)
robot.turn(90)    # right 90 degrees
wait(500)
robot.turn(-180)  # left 180 degrees
wait(500)
robot.turn(90)    # back to the starting heading


# Or steer to a heading yourself with proportional control
def turn_to_heading(target, kp=3):
    while True:
        error = target - hub.imu.heading()
        if abs(error) < 2:  # close enough
            robot.stop()
            break
        robot.drive(0, kp * error)
        wait(10)


turn_to_heading(90)
turn_to_heading(0)