AI Hub Controller

# Pybricks Spike Prime Controller Script from pybricks.hubs import PrimeHub from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor from pybricks.parameters import Port, Color, Button from pybricks.tools import wait from pybricks.iodevices import PUPDevice from usys import stdin from uselect import poll from uerrno import ENODEV import ujson hub = PrimeHub() devices = {} ports = { "A": Port.A, "B": Port.B, "C": Port.C, "D": Port.D, "E": Port.E, "F": Port.F } keyboard = poll() keyboard.register(stdin) MOTOR_IDS = [1, 2, 38, 47, 48, 75, 76] COLOR_IDS = [61, 63] DISTANCE_IDS = [62] def scan_devices(): global devices for name, port in ports.items(): try: pup = PUPDevice(port) dev_id = pup.info()["id"] if dev_id in MOTOR_IDS: if name not in devices or not isinstance(devices[name], Motor): devices[name] = Motor(port) elif dev_id in COLOR_IDS: if name not in devices or not isinstance(devices[name], ColorSensor): devices[name] = ColorSensor(port) elif dev_id in DISTANCE_IDS: if name not in devices or not isinstance(devices[name], UltrasonicSensor): devices[name] = UltrasonicSensor(port) else: devices[name] = pup except OSError as e: if e.args[0] == ENODEV: if name in devices: del devices[name] scan_devices() scan_counter = 0 input_buffer = "" while True: scan_counter += 1 if scan_counter >= 40: scan_devices() scan_counter = 0 if keyboard.poll(0): char = stdin.read(1) if char == "\n": try: cmd = ujson.loads(input_buffer) action = cmd.get("action") if action == "motor": p = cmd.get("port") s = cmd.get("speed", 0) if p in devices and isinstance(devices[p], Motor): if s == 0: devices[p].stop() else: devices[p].run(s) elif action == "led": color_name = cmd.get("color", "none") color_map = { "red": Color.RED, "green": Color.GREEN, "blue": Color.BLUE, "yellow": Color.YELLOW, "orange": Color.ORANGE, "purple": Color.PURPLE, "white": Color.WHITE, "none": Color.NONE } hub.light.on(color_map.get(color_name.lower(), Color.NONE)) except Exception as e: print("ERROR:", e) input_buffer = "" else: input_buffer += char state = {} for name, device in devices.items(): try: if isinstance(device, Motor): state[name] = {"type": "motor", "speed": device.speed(), "angle": device.angle()} elif isinstance(device, ColorSensor): state[name] = {"type": "color", "color": str(device.color()), "ambient": device.ambient(), "reflection": device.reflection()} elif isinstance(device, UltrasonicSensor): state[name] = {"type": "distance", "distance": device.distance()} except: pass pressed = hub.buttons.pressed() state["buttons"] = { "left": Button.LEFT in pressed, "right": Button.RIGHT in pressed, "center": Button.CENTER in pressed } print(ujson.dumps(state)) wait(50)