42160-audi-rs-q-e-tron: Powered up remote code.

Author: tensafefrogs

sets/technic/42160-audi-rs-q-e-tron/42160-audi-rs-q-e-tron.webp

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+---
+title: "Audi RS Q e-tron"
+number: 42160
+image:
+ local: "42160-audi-rs-q-e-tron.webp"
+ credit: "LEGO"
+layout: set
+description: "Build an Audi rally car. Inspire kids to build a remote-controlled rally car with this LEGO® Technic™ Audi RS Q e-tron model kit."
+---

sets/technic/42160-audi-rs-q-e-tron/index.md

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+---
+title: "Powered Up Remote Control"
+maintainer:
+ user: "tensafefrogs"
+ name: "Geoff Stearns"
+image:
+ local: "../42160-audi-rs-q-e-tron.webp"
+ credit: "LEGO"
+description: "Control the Technic Audi RS Q e-tron with the Powered Up Remote."
+code: "#program"
+---
+
+In this project we'll show you how to control the Audi RS Q e-tron with the Powered Up remote.
+
+# Program
+
+This program enables control of the vehicle with the Powered
+Up Remote.
+
+{% include copy-code.html %}
+
+```python
+{% include_relative main.py %}
+```

sets/technic/42160-audi-rs-q-e-tron/powered-up-remote/index.md

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+from pybricks.pupdevices import Motor, Remote
+from pybricks.parameters import Port, Direction, Stop, Button
+from pybricks.tools import wait, StopWatch
+import pybricks.hubs
+
+# This program provides controls for the Audi e-tron Technic set.
+# It provides basic throttle + steering and the red buttons
+# increase / decrease speed by three levels: slow, medium, fast.
+# The hub will shut down after two minutes of inactivity to
+# save power.
+#
+# Controls:
+# Left remote + / - = Throttle: Forward & Reverse
+# Right remote + / - = Steering
+# Red left button = Decrease speed
+# Red right button = Increase speed
+#
+
+# Speed levels
+speed_levels = [500, 1000, 2000] # Slow, Medium, Fastest
+current_speed_index = 1 # Start with Medium speed
+SPEED = speed_levels[current_speed_index] # Initialize SPEED with the medium speed
+
+# Initialize the motors.
+steer = Motor(Port.D) # Steering motor
+front = Motor(Port.B, Direction.COUNTERCLOCKWISE, profile=300) # Front wheel drive
+rear = Motor(Port.A, Direction.COUNTERCLOCKWISE, profile=300) # Rear wheel drive
+
+# Set the acceleration and speed limits for the motors.
+front.control.limits(speed=2000, acceleration=2000)
+rear.control.limits(speed=2000, acceleration=2000)
+
+# Connect to the powered up remote.
+remote = Remote()
+
+# Calibrate the steering motor.
+left_end = steer.run_until_stalled(-200, then=Stop.HOLD)
+right_end = steer.run_until_stalled(200, then=Stop.HOLD)
+steer.reset_angle((right_end - left_end) / 2)
+steer.run_target(speed=1000, target_angle=0, wait=False)
+
+# Variables to track the previous state of the red buttons.
+prev_left_button_pressed = False
+prev_right_button_pressed = False
+
+# Initialize inactivity timer
+inactivity_timer = StopWatch()
+
+# Now we can start driving!
+while True:
+ pressed = remote.buttons.pressed()
+
+ # Reset the timer if there's any button pressed
+ if pressed:
+ inactivity_timer.reset()
+
+ # Shut down if inactive for 2 minutes (120 seconds)
+ if inactivity_timer.time() > 120000: # 2 minutes in milliseconds
+ hub.system.shutdown()
+
+ # Detect single presses on the red buttons.
+ left_button_pressed = Button.LEFT in pressed
+ right_button_pressed = Button.RIGHT in pressed
+
+ if left_button_pressed and not prev_left_button_pressed:
+ current_speed_index = max(0, current_speed_index - 1) # Decrease speed index
+ SPEED = speed_levels[current_speed_index] # Update SPEED
+
+ if right_button_pressed and not prev_right_button_pressed:
+ current_speed_index = min(len(speed_levels) - 1, current_speed_index + 1) # Increase speed index
+ SPEED = speed_levels[current_speed_index] # Update SPEED
+
+ # Store the current state for the next iteration
+ prev_left_button_pressed = left_button_pressed
+ prev_right_button_pressed = right_button_pressed
+
+ # Steering.
+ steer_angle = 0
+ if Button.RIGHT_MINUS in pressed:
+ steer_angle += 75
+ if Button.RIGHT_PLUS in pressed:
+ steer_angle -= 75
+
+ steer.run_target(500, steer_angle, wait=False)
+
+ # Throttle: Forward & Reverse.
+ drive_speed = 0
+ if Button.LEFT_PLUS in pressed:
+ drive_speed -= SPEED
+ if Button.LEFT_MINUS in pressed:
+ drive_speed += SPEED
+
+ front.run(drive_speed)
+ rear.run(drive_speed)
+
+ wait(25)