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Technic Hub¶

class TechnicHub(top_side=Axis.Z, front_side=Axis.X)¶

LEGO® Technic Hub.

Initializes the hub. Optionally, specify how the hub is placed in your design by saying in which direction the top side (with the button) and front side (with the light) are pointing.

Parameters

top_side (Axis) – The axis that passes through the top side of the hub.
front_side (Axis) – The axis that passes through the front side of the hub.

Using the hub status light

light.on(color)¶

Turns on the light at the specified color.

Parameters: color (Color) – Color of the light.

light.off()¶: Turns off the light.

light.blink(color, durations)¶

Blinks the light at a given color by turning it on and off for given durations.

The light keeps blinking indefinitely while the rest of your program keeps running.

This method provides a simple way to make basic but useful patterns. For more generic and multi-color patterns, use animate() instead.

Parameters

color (Color) – Color of the light.
durations (list) – Sequence of time values of the form [on_1, off_1, on_2, off_2, ...].

light.animate(colors, interval)¶

Animates the light with a sequence of colors, shown one by one for the given interval.

The animation runs in the background while the rest of your program keeps running. When the animation completes, it repeats.

Parameters

colors (list) – Sequence of Color values.
interval (Number, ms) – Time between color updates.

Using the IMU

imu.up() → Side¶

Checks which side of the hub currently faces upward.

Returns: Side.TOP, Side.BOTTOM, Side.LEFT, Side.RIGHT, Side.FRONT or Side.BACK.

imu.tilt() → Tuple[int, int]¶

Gets the pitch and roll angles. This is relative to the user-specified neutral orientation.

The order of rotation is pitch-then-roll. This is equivalent to a positive rotation along the robot y-axis and then a positive rotation along the x-axis.

Returns: Tuple of pitch and roll angles.

imu.acceleration(axis) → float: mm/s²¶

imu.acceleration() → vector: mm/s²

Gets the acceleration of the device along a given axis in the robot reference frame.

Parameters: axis (Axis) – Axis along which the acceleration should be measured.
Returns: Acceleration along the specified axis. If you specify no axis, this returns a vector of accelerations along all axes.

imu.angular_velocity(axis) → float: deg/s¶

imu.angular_velocity() → vector: deg/s

Gets the angular velocity of the device along a given axis in the robot reference frame.

Parameters: axis (Axis) – Axis along which the angular velocity should be measured.
Returns: Angular velocity along the specified axis. If you specify no axis, this returns a vector of accelerations along all axes.

imu.heading() → float: deg¶

Gets the heading angle relative to the starting orientation. It is a positive rotation around the z-axis in the robot frame, prior to applying any tilt rotation.

For a vehicle viewed from the top, this means that a positive heading value corresponds to a counterclockwise rotation.

Note

This method is not yet implemented.

Returns: Heading angle relative to starting orientation.

imu.reset_heading(angle)¶

Resets the accumulated heading angle of the robot.

Note

This method is not yet implemented.

Parameters: angle (Number, deg) – Value to which the heading should be reset.

Using the battery

battery.voltage() → int: mV¶

Gets the voltage of the battery.

Returns: Battery voltage.

battery.current() → int: mA¶

Gets the current supplied by the battery.

Returns: Battery current.

Button and system control

button.pressed() → Collection[Button]¶

Checks which buttons are currently pressed.

Returns: Set of pressed buttons.

system.set_stop_button(button)¶

Sets the button or button combination that stops a running script.

Normally, the center button is used to stop a running script. You can change or disable this behavior in order to use the button for other purposes.

Parameters: button (Button) – A button such as Button.CENTER, or a tuple of multiple buttons. Choose None to disable the stop button altogether.

system.name() → str¶

Gets the hub name. This is the name you see when connecting via Bluetooth.

Returns: The hub name.

system.storage(self, offset, write=)¶

system.storage(self, offset, read=) → bytes

Reads or writes binary data to persistent storage.

This lets you store data that can be used the next time you run the program.

The data will be saved to flash memory when you turn the hub off normally. It will not be saved if the batteries are removed while the hub is still running.

Once saved, the data will remain available even after you remove the batteries.

Parameters

offset (int) – The offset from the start of the user storage memory, in bytes.
read (int) – The number of bytes to read. Omit this argument when writing.
write (bytes) – The bytes to write. Omit this argument when reading.

Returns

The bytes read if reading, otherwise None.

Raises

ValueError – If you try to read or write data outside of the allowed range.

You can store up to 128 bytes of data on this hub. The data is cleared when you update the Pybricks firmware or if you restore the original firmware.

system.shutdown()¶: Stops your program and shuts the hub down.

system.reset_reason() → int¶

Finds out how and why the hub (re)booted. This can be useful to diagnose some problems.

Returns

0 if the hub was previously powered off normally.
1 if the hub rebooted automatically, like after a firmware update.
2 if the hub previously crashed due to a watchdog timeout, which indicates a firmware issue.

Status light examples¶

Turning the light on and off¶

from pybricks.hubs import TechnicHub
from pybricks.parameters import Color
from pybricks.tools import wait

# Initialize the hub.
hub = TechnicHub()

# Turn the light on and off 5 times.
for i in range(5):

    hub.light.on(Color.RED)
    wait(1000)

    hub.light.off()
    wait(500)

Changing brightness and using custom colors¶

from pybricks.hubs import TechnicHub
from pybricks.parameters import Color
from pybricks.tools import wait

# Initialize the hub.
hub = TechnicHub()

# Show the color at 30% brightness.
hub.light.on(Color.RED * 0.3)

wait(2000)

# Use your own custom color.
hub.light.on(Color(h=30, s=100, v=50))

wait(2000)

# Go through all the colors.
for hue in range(360):
    hub.light.on(Color(hue))
    wait(10)

Making the light blink¶

from pybricks.hubs import TechnicHub
from pybricks.parameters import Color
from pybricks.tools import wait

# Initialize the hub
hub = TechnicHub()

# Keep blinking red on and off.
hub.light.blink(Color.RED, [500, 500])

wait(10000)

# Keep blinking green slowly and then quickly.
hub.light.blink(Color.GREEN, [500, 500, 50, 900])

wait(10000)

Creating light animations¶

from pybricks.hubs import TechnicHub
from pybricks.parameters import Color
from pybricks.tools import wait
from umath import sin, pi

# Initialize the hub.
hub = TechnicHub()

# Make an animation with multiple colors.
hub.light.animate([Color.RED, Color.GREEN, Color.NONE], interval=500)

wait(10000)

# Make the color RED grow faint and bright using a sine pattern.
hub.light.animate([Color.RED * (0.5 * sin(i / 15 * pi) + 0.5) for i in range(30)], 40)

wait(10000)

# Cycle through a rainbow of colors.
hub.light.animate([Color(h=i * 8) for i in range(45)], interval=40)

wait(10000)

IMU examples¶

Testing which way is up¶

from pybricks.hubs import TechnicHub
from pybricks.parameters import Color, Side
from pybricks.tools import wait

# Initialize the hub.
hub = TechnicHub()

# Define colors for each side in a dictionary.
SIDE_COLORS = {
    Side.TOP: Color.RED,
    Side.BOTTOM: Color.BLUE,
    Side.LEFT: Color.GREEN,
    Side.RIGHT: Color.YELLOW,
    Side.FRONT: Color.MAGENTA,
    Side.BACK: Color.BLACK,
}

# Keep updating the color based on detected up side.
while True:

    # Check which side of the hub is up.
    up_side = hub.imu.up()

    # Change the color based on the side.
    hub.light.on(SIDE_COLORS[up_side])

    # Also print the result.
    print(up_side)
    wait(50)

Reading the tilt value¶

from pybricks.hubs import TechnicHub
from pybricks.tools import wait

# Initialize the hub.
hub = TechnicHub()

while True:
    # Read the tilt values.
    pitch, roll = hub.imu.tilt()

    # Print the result.
    print(pitch, roll)
    wait(200)

Using a custom hub orientation¶

from pybricks.hubs import TechnicHub
from pybricks.tools import wait
from pybricks.geometry import Axis

# Initialize the hub. In this case, specify that the hub is mounted with the
# top side facing forward and the front side facing to the right.
# For example, this is how the hub is mounted in BLAST in the 51515 set.
hub = TechnicHub(top_side=Axis.X, front_side=-Axis.Y)

while True:
    # Read the tilt values. Now, the values are 0 when BLAST stands upright.
    # Leaning forward gives positive pitch. Leaning right gives positive roll.
    pitch, roll = hub.imu.tilt()

    # Print the result.
    print(pitch, roll)
    wait(200)

Reading acceleration and angular velocity vectors¶

from pybricks.hubs import TechnicHub
from pybricks.tools import wait

# Initialize the hub.
hub = TechnicHub()

# Get the acceleration vector in g's.
print(hub.imu.acceleration() / 9810)

# Get the angular velocity vector.
print(hub.imu.angular_velocity())

# Wait so we can see what we printed
wait(5000)

Reading acceleration and angular velocity on one axis¶

from pybricks.hubs import TechnicHub
from pybricks.tools import wait
from pybricks.geometry import Axis

# Initialize the hub.
hub = TechnicHub()

# Get the acceleration or angular_velocity along a single axis.
# If you need only one value, this is more memory efficient.
while True:

    # Read the forward acceleration.
    forward_acceleration = hub.imu.acceleration(Axis.X)

    # Read the yaw rate.
    yaw_rate = hub.imu.angular_velocity(Axis.Z)

    # Print the yaw rate.
    print(yaw_rate)
    wait(100)

Button and system examples¶

Using the stop button during your program¶

from pybricks.hubs import TechnicHub
from pybricks.parameters import Color, Button
from pybricks.tools import wait, StopWatch

# Initialize the hub.
hub = TechnicHub()

# Disable the stop button.
hub.system.set_stop_button(None)

# Check the button for 5 seconds.
watch = StopWatch()
while watch.time() < 5000:

    # Set light to green if pressed, else red.
    if hub.button.pressed():
        hub.light.on(Color.GREEN)
    else:
        hub.light.on(Color.RED)

# Enable the stop button again.
hub.system.set_stop_button(Button.CENTER)

# Now you can press the stop button as usual.
wait(5000)

Turning the hub off¶

from pybricks.hubs import TechnicHub
from pybricks.tools import wait

# Initialize the hub.
hub = TechnicHub()

# Say goodbye and give some time to send it.
print("Goodbye!")
wait(100)

# Shut the hub down.
hub.system.shutdown()