Pybricks

EnterSwitchAndTurnAround.py

from pybricks.hubs import CityHub
from pybricks.pupdevices import DCMotor, Light, ColorDistanceSensor, PFMotor
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
from pybricks.robotics import DriveBase
from pybricks.tools import wait, StopWatch

# Initialize the hub.
hub = CityHub()
trainMotor = DCMotor(Port.B, Direction.CLOCKWISE)
# Initialize the sensor.
sensor = ColorDistanceSensor(Port.A)
switch = PFMotor(sensor, 1, Color.BLUE)

switchSpeed = 30
switchDuration = 100
trainSpeed = 50

def moveSwitch(speed: Int, duration: Int = 100):
    switch.dc(switchSpeed)
    wait(switchDuration)
    switch.brake()

def switchStraight():
    moveSwitch(switchSpeed, switchDuration)

def switchLeft():
    moveSwitch(-switchSpeed, switchDuration)

def moveBackwards():
    trainMotor.dc(-trainSpeed)

def moveForwards():
    trainMotor.dc(trainSpeed)

def stopTrain():
    trainMotor.stop()

def detectColor():
    print("Detectable Color:")
    print(sensor.color())

def waitForColor(desired_color):
    # While the color is not the desired color, we keep waiting.
    detectColor()
    # hub.light.on(desired_color)
    while sensor.color() != desired_color:
        wait(20)

while True:
    moveForwards()
    # Detect Red
    waitForColor(Color.RED)
    # Stop Train
    stopTrain()
    # Move backwards for 1 second
    moveBackwards()
    # Switch Left
    switchLeft()
    wait(2500)
    # Move Forward
    moveForwards()

RemoteTestButtons.py

from pybricks.pupdevices import Remote
from pybricks.parameters import Button, Color


def button_to_color(buttons):

    # Return a color depending on the button.
    if Button.LEFT_PLUS in buttons:
        return Color.RED
    if Button.LEFT_MINUS in buttons:
        return Color.GREEN
    if Button.LEFT in buttons:
        return Color.ORANGE
    if Button.RIGHT_PLUS in buttons:
        return Color.BLUE
    if Button.RIGHT_MINUS in buttons:
        return Color.YELLOW
    if Button.RIGHT in buttons:
        return Color.CYAN
    if Button.CENTER in buttons:
        return Color.VIOLET

    # Return no color by default.
    return Color.NONE


# Connect to the remote.
remote = Remote()

while True:
    # Wait until a button is pressed.
    pressed = ()
    while not pressed:
        pressed = remote.buttons.pressed()

    # Convert button code to color.
    color = button_to_color(pressed)

    # Set the remote light color.
    remote.light.on(color)

    # Wait until all buttons are released.
    while pressed:
        pressed = remote.buttons.pressed()