Student Name:

Assignment:

Notes:

Project Name: Basic

Project Type: Python

Date: Fri Jan 23 2026

Page 1 of 5
1 #region VEXcode Generated Robot Configuration
2 from vex import *
3 import urandom
4
5 # Brain should be defined by default
6 brain=Brain()
7
8 # Robot configuration code
9 controller_1 = Controller(PRIMARY)
10 left_motor_a = Motor(Ports.PORT11, GearSetting.RATIO_18_1, False)
11 left_motor_b = Motor(Ports.PORT12, GearSetting.RATIO_18_1, False)
12 left_drive_smart = MotorGroup(left_motor_a, left_motor_b)
13 right_motor_a = Motor(Ports.PORT13, GearSetting.RATIO_18_1, True)
14 right_motor_b = Motor(Ports.PORT4, GearSetting.RATIO_18_1, True)
15 right_drive_smart = MotorGroup(right_motor_a, right_motor_b)
16 drivetrain = DriveTrain(left_drive_smart, right_drive_smart, 299.24, 294.89399999999
995, 40, MM, 1)
17 TopBack = Motor(Ports.PORT16, GearSetting.RATIO_18_1, False)
18 MidBack = Motor(Ports.PORT17, GearSetting.RATIO_18_1, False)
19 BottomBack = Motor(Ports.PORT18, GearSetting.RATIO_18_1, True)
20 BottomFront = Motor(Ports.PORT19, GearSetting.RATIO_18_1, False)
21 TopFront = Motor(Ports.PORT20, GearSetting.RATIO_18_1, False)
22 Tower_Extractor = Motor(Ports.PORT15, GearSetting.RATIO_18_1, False)
23 gps_5 = Gps(Ports.PORT5, 0.00, 0.00, MM, 180)
24
25
26 # wait for rotation sensor to fully initialize
27 wait(30, MSEC)
28
29
30 def play_vexcode_sound(sound_name):
31 # Helper to make playing sounds from the V5 in VEXcode easier and
32 # keeps the code cleaner by making it clear what is happening.
33 print("VEXPlaySound:" + sound_name)
34 wait(5, MSEC)
35
36 # add a small delay to make sure we don't print in the middle of the REPL header
37 wait(200, MSEC)
38 # clear the console to make sure we don't have the REPL in the console
39 print("\033[2J")
40
41
42
43 # define variables used for controlling motors based on controller inputs
44 controller_1_x_b_buttons_control_motors_stopped = True
45 drivetrain_l_needs_to_be_stopped_controller_1 = False
46 drivetrain_r_needs_to_be_stopped_controller_1 = False
47
48 # define a task that will handle monitoring inputs from controller_1
49 def rc_auto_loop_function_controller_1():
50 global drivetrain_l_needs_to_be_stopped_controller_1, drivetrain_r_needs_to_be_stopp
ed_controller_1, controller_1_x_b_buttons_control_motors_stopped, remote_control_code_e
nabled
51 # process the controller input every 20 milliseconds
52 # update the motors based on the input values

Page 2 of 5
53 while True:
54 if remote_control_code_enabled:
55
56 # calculate the drivetrain motor velocities from the controller joystick axies
57 # left = axis3
58 # right = axis2
59 drivetrain_left_side_speed = controller_1.[Link]()
60 drivetrain_right_side_speed = controller_1.[Link]()
61
62 # check if the value is inside of the deadband range
63 if drivetrain_left_side_speed < 5 and drivetrain_left_side_speed > -5:
64 # check if the left motor has already been stopped
65 if drivetrain_l_needs_to_be_stopped_controller_1:
66 # stop the left drive motor
67 left_drive_smart.stop()
68 # tell the code that the left motor has been stopped
69 drivetrain_l_needs_to_be_stopped_controller_1 = False
70 else:
71 # reset the toggle so that the deadband code knows to stop the left motor next
72 # time the input is in the deadband range
73 drivetrain_l_needs_to_be_stopped_controller_1 = True
74 # check if the value is inside of the deadband range
75 if drivetrain_right_side_speed < 5 and drivetrain_right_side_speed > -5:
76 # check if the right motor has already been stopped
77 if drivetrain_r_needs_to_be_stopped_controller_1:
78 # stop the right drive motor
79 right_drive_smart.stop()
80 # tell the code that the right motor has been stopped
81 drivetrain_r_needs_to_be_stopped_controller_1 = False
82 else:
83 # reset the toggle so that the deadband code knows to stop the right motor next
84 # time the input is in the deadband range
85 drivetrain_r_needs_to_be_stopped_controller_1 = True
86
87 # only tell the left drive motor to spin if the values are not in the deadband range
88 if drivetrain_l_needs_to_be_stopped_controller_1:
89 left_drive_smart.set_velocity(drivetrain_left_side_speed, PERCENT)
90 left_drive_smart.spin(FORWARD)
91 # only tell the right drive motor to spin if the values are not in the deadband rang
e
92 if drivetrain_r_needs_to_be_stopped_controller_1:
93 right_drive_smart.set_velocity(drivetrain_right_side_speed, PERCENT)
94 right_drive_smart.spin(FORWARD)
95 # check the buttonX/buttonB status
96 # to control Tower_Extractor
97 if controller_1.[Link]():
98 Tower_Extractor.spin(REVERSE)
99 controller_1_x_b_buttons_control_motors_stopped = False
100 elif controller_1.[Link]():
101 Tower_Extractor.spin(FORWARD)
102 controller_1_x_b_buttons_control_motors_stopped = False
103 elif not controller_1_x_b_buttons_control_motors_stopped:
104 Tower_Extractor.stop()
105 # set the toggle so that we don't constantly tell the motor to stop when
106 # the buttons are released
107 controller_1_x_b_buttons_control_motors_stopped = True
108 # wait before repeating the process
109 wait(20, MSEC)
110
111 # define variable for remote controller enable/disable
112 remote_control_code_enabled = True
113
114 rc_auto_loop_thread_controller_1 = Thread(rc_auto_loop_function_controller_1)
115
116 #endregion VEXcode Generated Robot Configuration
117
118 GROUND = 1
119 STORAGE = 2
120 CENTERHIGH = 3
121 SIDEGOAL = 4
122 STOP = 5
123
124 def onStart():
125 Tower_Extractor.set_stopping(HOLD)
126
127 Tower_Extractor.set_velocity(100, PERCENT)
128 TopBack.set_velocity(100, PERCENT)
129 MidBack.set_velocity(50, PERCENT)
130 BottomBack.set_velocity(75, PERCENT)
131 BottomFront.set_velocity(100, PERCENT)
132 TopFront.set_velocity(100, PERCENT)
133
134 drivetrain.set_stopping(BRAKE)
135 drivetrain.set_drive_velocity(100, PERCENT)
136
137 # NOTE: spin FORWARD = spin CLOCKWISE
138 # Spins lift to drop balls to specified location
139 def spinLift(mode, duration=0):
140 if duration > 0:
141 TopBack.set_timeout(duration, SECONDS)
142 MidBack.set_timeout(duration, SECONDS)
143 BottomBack.set_timeout(duration, SECONDS)
144 TopFront.set_timeout(duration, SECONDS)
145 BottomFront.set_timeout(duration, SECONDS)
146
147 if mode == 1 :
148 [Link](FORWARD)
149 [Link](REVERSE)
150 [Link](FORWARD)
151 elif mode == 2:
152 [Link](REVERSE)
153 [Link](FORWARD)
154 [Link](FORWARD)
155 [Link](REVERSE)
156 [Link](REVERSE)
157 elif mode == 3:
158 [Link](FORWARD)
159 [Link](REVERSE)
160 [Link](FORWARD)
161 [Link](REVERSE)
162 elif mode == 4:
163 [Link](FORWARD)
164 [Link](FORWARD)
165 [Link](REVERSE)
166 [Link](REVERSE)
167 [Link](REVERSE)
168 elif mode == 5:
169 [Link]()
170 [Link]()
171 [Link]()
172 [Link]()
173 [Link]()
174
175 def autonomous():
176 drivetrain.drive_for(FORWARD, 38, INCHES) # Go to the front of the tower
177 drivetrain.set_timeout(1, SECONDS)
178 drivetrain.turn_for(RIGHT, 90, DEGREES) # Face tower
179 Tower_Extractor.spin_for(FORWARD, 100, DEGREES)
180
181 def alignWithGoal(goal)
182 def checkInput():
183 if controller_1.[Link](): spinLift(GROUND)
184 elif controller_1.[Link](): spinLift(STORAGE)
185 elif controller_1.[Link](): spinLift(CENTERHIGH)
186 elif controller_1.[Link](): spinLift(SIDEGOAL)
187 elif controller_1.[Link](): autonomous()
188 else: spinLift(STOP)
189
190 def driver():
191 while True:
192 checkInput()
193
194 competition = Competition(driver, autonomous)
195
196 onStart()
197 driver()
198
199
200
201