没有手机等智能设备也能控制乐高Control+套装？PyBricks可以帮你。

关于 Powered Up 系统最常见的抱怨之一就是需要使用智能设备进行控制，并且您只能通过官方 Control+ 应用程序，通过屏幕进行触摸控制。即使利用Powered Up编程可以进行自定义控制，您仍然需要在智能设备上一直运行 Powered Up 应用程序。特别是对于小孩子而言，长期接触手机或平板等智能设备总归不是一件太好的事情。

现在，你可以利用Pybricks 来摆脱乐高Control+套装对智能设备的依赖。通过在集线器中运行PyBricks程序代码即可实现。听起来很复杂？其实很简单，无需编程基础也能搞定！以下是RacingBricks的视频教程。

下面是视频中用于带遥控器的 42124 越野车的修改代码：

from pybricks.pupdevices import Motor, Remote
from pybricks.parameters import Port, Direction, Stop, Button
from pybricks.tools import wait

# Initialize the motors.
steer = Motor(Port.B)
front = Motor(Port.A, Direction.COUNTERCLOCKWISE)

# Connect to the remote.
remote = Remote()

# Read the current settings
old_kp, old_ki, old_kd, _, _ = steer.control.pid()

# Set new values
steer.control.pid(kp=old_kp*4, kd=old_kd*0.4)

# Find the steering endpoint on the left and right.
# The middle is in between.
left_end = steer.run_until_stalled(-200, then=Stop.HOLD)
right_end = steer.run_until_stalled(200, then=Stop.HOLD)

# We are now at the right. Reset this angle to be half the difference.
# That puts zero in the middle.
steer.reset_angle((right_end - left_end)/2)
steer.run_target(speed=200, target_angle=0, wait=False)

# Set steering angle for the buggy
steer_angle = (((right_end - left_end)/2)-5)
print('steer angle:',steer_angle)

# Now we can start driving!
while True:
    # Check which buttons are pressed.
    pressed = remote.buttons.pressed()

    # Choose the steer angle based on the right controls.

    if Button.RIGHT_PLUS in pressed:
        steer.run_target(1400, -steer_angle, Stop.HOLD, False)
    elif Button.RIGHT_MINUS in pressed:
        steer.run_target(1400, steer_angle, Stop.HOLD, False)
    else:
        steer.track_target(0)

    # Choose the drive speed based on the left controls.
    drive_speed = 0
    if Button.LEFT_PLUS in pressed:
        drive_speed += 100
    if Button.LEFT_MINUS in pressed:
        drive_speed -= 100

    # Apply the selected speed.
    front.dc(drive_speed)

    # Wait.
    wait(10)

下面是带有遥控器的 42129 4×4 梅赛德斯-奔驰卡车的代码：

from pybricks.pupdevices import Motor, DCMotor, Remote
from pybricks.parameters import Port, Direction, Stop, Button, Color
from pybricks.hubs import TechnicHub
from pybricks.tools import wait

# Initialize the motors.
steer = Motor(Port.D)
drive1 = Motor(Port.B)
drive2 = Motor(Port.A)
diff_control = DCMotor(Port.C)

# Initialize the hub.
hub = TechnicHub()

# Connect to the remote.
remote = Remote()

# Read the current settings
old_kp, old_ki, old_kd, _, _ = steer.control.pid()

# Set new values
steer.control.pid(kp=old_kp*4, kd=old_kd*0.8)

#Set the differential lock in open position
diff_control.dc(100)
wait(400)
diff_control.brake()

hub.light.on(Color.GREEN)
hublight = 0

# Find the steering endpoint on the left and right.
# The middle is in between.
left_end = steer.run_until_stalled(-500, then=Stop.HOLD)
right_end = steer.run_until_stalled(500, then=Stop.HOLD)

# We are now at the right. Reset this angle to be half the difference.
# That puts zero in the middle.
steer.reset_angle((right_end - left_end)/2)
steer.run_target(speed=200, target_angle=0, wait=False)

# Set steering angle for the Zetros
steer_angle = (((right_end - left_end)/2)+5)

# Now we can start driving!
while True:
    # Check which buttons are pressed.
    pressed = remote.buttons.pressed()

    # Choose the steer angle based on the right controls.

    if Button.RIGHT_PLUS in pressed:
        steer.run_target(1400, -steer_angle, Stop.HOLD, False)
    elif Button.RIGHT_MINUS in pressed:
        steer.run_target(1400, steer_angle, Stop.HOLD, False)
    else:
        steer.track_target(0)

    # Choose the drive speed based on the left controls.
    drive_speed = 0
    if Button.LEFT_PLUS in pressed:
        drive_speed += 100
    if Button.LEFT_MINUS in pressed:
        drive_speed -= 100
    if Button.LEFT in pressed:
        print('Battery voltage:',(hub.battery.voltage())/1000,"V")
        wait(100)


    # Apply the selected speed.
    drive1.dc(drive_speed)
    drive2.dc(drive_speed)

    if (Button.RIGHT in pressed) and (hublight == 0):
        hublight = 1
        diff_control.dc(-100)
        wait(400)
        diff_control.brake()
        hub.light.on(Color.RED)
        
    
    elif (Button.RIGHT in pressed) and (hublight == 1):
        diff_control.dc(100)
        wait(400)
        diff_control.brake()
        hub.light.on(Color.GREEN)
        hublight = 0

    # Wait.
    wait(10)

参考来源：https://racingbrick.com/

关于PyBricks，后面我会抽时间进行更多介绍和编制教程。