Examples

Hub Outputs

Status Light

# hub_light.py

from pybricks.hubs import PrimeHub
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
from pybricks.robotics import DriveBase
from pybricks.tools import wait, StopWatch

# --- SETUP
hub = PrimeHub()


# --- MAIN LOOP
while True:
    hub.light.on(Color.MAGENTA)
    wait(1000)
    hub.light.blink(Color.RED, [500,250,500,250])
    wait(1500)
    hub.light.animate([Color.GREEN, Color.WHITE, Color.ORANGE],1000)
    wait(3000)
    hub.light.off()
    wait(1000)

Light Matrix

# light_matrix.py

from pybricks.hubs import PrimeHub
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop, Icon
from pybricks.robotics import DriveBase
from pybricks.tools import wait, StopWatch

# --- SETUP

hub = PrimeHub()


# --- MAIN LOOP
while True:
    hub.display.orientation(Side.RIGHT)
    hub.display.icon(Icon.UP)
    wait(500)
    hub.display.orientation(Side.BOTTOM)
    hub.display.icon(Icon.UP)
    wait(500)
    hub.display.orientation(Side.LEFT)
    hub.display.icon(Icon.UP)
    wait(500)
    hub.display.orientation(Side.TOP)
    hub.display.icon(Icon.UP)
    wait(500)

    hub.display.off()
    wait(1000)

    hub.display.pixel(1,1,100)
    hub.display.pixel(1,3,100)
    hub.display.pixel(3,1,100)
    hub.display.pixel(3,2,100)
    hub.display.pixel(3,3,100)
    wait(1000)

    hub.display.off()
    wait(1000)

    arrows = [Icon.RIGHT, Icon.DOWN, Icon.LEFT, Icon.UP]
    hub.display.animate(arrows, 500)
    wait(2000)

    hub.display.off()
    wait(1000)

    hub.display.char("R")
    wait(500)
    hub.display.number(2)
    wait(500)
    hub.display.char("D")
    wait(500)
    hub.display.number(2)
    wait(500)

    hub.display.off()
    wait(1000)

    hub.display.text("C3PO", 500, 50)

    hub.display.off()
    wait(2000)

Speaker

# speaker.py

from pybricks.hubs import PrimeHub
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
from pybricks.robotics import DriveBase
from pybricks.tools import wait, StopWatch

# --- SETUP

hub = PrimeHub()


# --- MAIN LOOP
while True:
    
    hub.speaker.volume(100)
    current_volume = str(hub.speaker.volume())
    hub.display.text(current_volume)
    hub.speaker.beep(440,500)
    
    hub.speaker.volume(50)
    current_volume = str(hub.speaker.volume())
    hub.display.text(current_volume)
    hub.speaker.beep(440,500)
    
    oh_when_the_saints = [
        "C4/4", "E4/4", "F4/4", "G4/1",
        "C4/4", "E4/4", "F4/4", "G4/1",
        "C4/4", "E4/4", "F4/4", "G4/2",
        "E4/2", "C4/2", "E4/2", "D4/1",
        "E4/4", "E4/4", "D4/4", "C4/2",
        "C4/2", "E4/2", "G4/4", "G4/4", "G4/4", "F4/1",
        "E4/4", "F4/4", "G4/2", "E4/2", "C4/2", "D4/2", "C4/1"
    ]

    hub.speaker.play_notes(oh_when_the_saints,180)

Motor Output

Motors Running Forever

# motors_run_forever.py

from pybricks.hubs import PrimeHub
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
from pybricks.robotics import DriveBase
from pybricks.tools import wait, StopWatch

# --- SETUP
hub = PrimeHub()
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
right_motor = Motor(Port.B, Direction.CLOCKWISE)

# --- MAIN LOOP
while True:
    left_motor.run(1000)
    right_motor.run(1000)
    wait(1000)

    left_motor.dc(50)
    right_motor.dc(50)
    wait(1000)

Motors Stopping

# motor_stop.py

from pybricks.hubs import PrimeHub
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
from pybricks.robotics import DriveBase
from pybricks.tools import wait, StopWatch

# --- SETUP
hub = PrimeHub()
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
right_motor = Motor(Port.B, Direction.CLOCKWISE)

# --- MAIN LOOP
while True:
    hub.light.on(Color.GREEN)

    left_motor.dc(100)
    right_motor.dc(100)
    wait(1000)
    
    left_motor.stop()
    right_motor.stop()
    wait(500)

    hub.light.on(Color.ORANGE)

    left_motor.dc(100)
    right_motor.dc(100)
    wait(1000)
    
    left_motor.brake()
    right_motor.brake()
    wait(500)

    hub.light.on(Color.VIOLET)

    left_motor.dc(100)
    right_motor.dc(100)
    wait(1000)
    
    left_motor.hold()
    right_motor.hold()
    wait(500)

Motor Fixed Amount

# motors_run_fixed.py

from pybricks.hubs import PrimeHub
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
from pybricks.robotics import DriveBase
from pybricks.tools import wait, StopWatch

# --- SETUP
hub = PrimeHub()
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
right_motor = Motor(Port.B, Direction.CLOCKWISE)

# --- MAIN LOOP
while True:
    hub.light.on(Color.BROWN)    
    
    left_motor.run_time(1000, 1000, Stop.COAST)
    right_motor.run_time(1000, 1000, Stop.COAST)

    hub.light.on(Color.VIOLET)

    left_motor.run_angle(1000, 180)
    right_motor.run_angle(1000, 180)

    hub.light.on(Color.CYAN)

    left_motor.reset_angle(0)
    right_motor.reset_angle(0)
    left_motor.run_target(1000, 180)
    right_motor.run_target(1000, 180)

    hub.light.on(Color.GRAY)

    left_motor.reset_angle(0)
    right_motor.reset_angle(0)
    left_motor.track_target(180)
    right_motor.track_target(180)

    wait(1000)

Drive Base

Drive Base Setup

# drive_base.py

from pybricks.hubs import PrimeHub
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
from pybricks.robotics import DriveBase
from pybricks.tools import wait, StopWatch

# --- SETUP
hub = PrimeHub()

# create drive base
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
right_motor = Motor(Port.B, Direction.CLOCKWISE)
my_robot = DriveBase(left_motor, right_motor, wheel_diameter=56, axle_track=80)

Driving Forever

# drive_base_forever.py

from pybricks.hubs import PrimeHub
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
from pybricks.robotics import DriveBase
from pybricks.tools import wait, StopWatch

# --- SETUP
hub = PrimeHub()

# create drive base
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
right_motor = Motor(Port.B, Direction.CLOCKWISE)
my_robot = DriveBase(left_motor, right_motor, wheel_diameter=56, axle_track=80)

# --- MAINLOOP
while True:
    hub.light.on(Color.WHITE)
    my_robot.drive(1000, 0)
    wait(500)

    hub.light.on(Color.RED)
    my_robot.drive(1000, -300)
    wait(500)

    my_robot.stop()
    wait(1000)

    hub.light.on(Color.WHITE)
    my_robot.drive(1000, 0)
    wait(500)

    hub.light.on(Color.GREEN)
    my_robot.drive(1000, 300)
    wait(500)

    my_robot.stop()
    wait(1000)

Driving Fixed

# drive_base_fixed.py

from pybricks.hubs import PrimeHub
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
from pybricks.robotics import DriveBase
from pybricks.tools import wait, StopWatch

# --- SETUP
hub = PrimeHub()

# create drive base
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
right_motor = Motor(Port.B, Direction.CLOCKWISE)
my_robot = DriveBase(left_motor, right_motor, wheel_diameter=56, axle_track=80)

# - MAIN LOOP
while True:
    hub.light.on(Color.YELLOW)
    my_robot.settings(200, 200, 200, 200)
    print(my_robot.settings())
    my_robot.straight(200)
    my_robot.turn(90)
    my_robot.curve(100,180)

    hub.light.on(Color.MAGENTA)
    my_robot.settings(500, 500, 500, 500)
    print(my_robot.settings())
    my_robot.straight(200)
    my_robot.turn(90)
    my_robot.curve(100,180)

Hub Inputs

Buttons

# buttons.py

from pybricks.hubs import PrimeHub
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop, Icon
from pybricks.robotics import DriveBase
from pybricks.tools import wait, StopWatch

# --- SETUP
hub = PrimeHub()


# --- MAIN LOOP
while True:
    pressed = hub.buttons.pressed()
    
    if Button.LEFT in pressed:
        hub.display.icon(Icon.ARROW_LEFT)
    elif Button.RIGHT in pressed:
        hub.display.icon(Icon.ARROW_RIGHT)
    elif Button.CENTER in pressed:
        hub.display.icon(Icon.CIRCLE)
    elif Button.BLUETOOTH in pressed:
        hub.display.char("B")
    else:
        hub.display.off()

IMU Orientation

# imu_orientation

from pybricks.hubs import PrimeHub
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
from pybricks.robotics import DriveBase
from pybricks.tools import wait, StopWatch

# --- SETUP
hub = PrimeHub()

# --- MAIN LOOP
while True:
    up  = hub.imu.up()
    pitch, roll = hub.imu.tilt()

    print(up, "\t", pitch, "\t", roll)

Motor as Sensor

Motor Measurement Example

# motor_inputs.py

from pybricks.hubs import PrimeHub
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
from pybricks.robotics import DriveBase
from pybricks.tools import wait, StopWatch

# --- SETUP
hub = PrimeHub()
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)

left_motor.reset_angle(0)

# --- MAIN LOOP
while True:
    pressed = hub.buttons.pressed()

    if Button.LEFT in pressed and Button.RIGHT in pressed:
        print("Angel:", left_motor.angle())
        left_motor.run_target(1000, 0)
        print("Angel:", left_motor.angle())
    
    elif Button.LEFT in pressed:
        left_motor.run(300)
        wait(250)
        print("Speed:", left_motor.speed())
        wait(500)
        left_motor.stop()
    
    elif Button.RIGHT in pressed:
        left_motor.run(300)
        if left_motor.stalled():
            print("Stalled")
        else:
            print("Torque load:", left_motor.load())
    
    else:
        left_motor.stop()

Drive Base as Sensor

Drive Base Measurement Example

# drive_base_inputs.py

from pybricks.hubs import PrimeHub
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
from pybricks.robotics import DriveBase
from pybricks.tools import wait, StopWatch

# --- SETUP
hub = PrimeHub()

left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
right_motor = Motor(Port.B, Direction.CLOCKWISE)
my_robot = DriveBase(left_motor, right_motor, wheel_diameter=56, axle_track=80)

my_robot.reset()

# --- MAIN LOOP
while True:
    pressed = hub.buttons.pressed()
    
    if Button.LEFT in pressed:
        distance, speed, angle, rate_of_turn = my_robot.state()
        print("Start - distance:", distance, "speed:", speed, "angle:", angle, "rate of turn:", rate_of_turn)
        my_robot.curve(100, 180)
        distance, speed, angle, rate_of_turn = my_robot.state()
        print("Start - distance:", distance, "speed:", speed, "angle:", angle, "rate of turn:", rate_of_turn)

    elif Button.RIGHT in pressed:
        distance = my_robot.distance()
        print("Start distance:", distance)
        my_robot.straight(500)
        distance = my_robot.distance()
        print("End distance:", distance)

    elif Button.BLUETOOTH in pressed:
        angle = my_robot.angle()
        print("Start angle:", angle)
        my_robot.turn(-90)
        angle = my_robot.angle()
        print("End angle:", angle)

    else:
        my_robot.stop()

Force Sensor

Force Sensor Example

# force_sensor.py

from pybricks.hubs import PrimeHub
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
from pybricks.robotics import DriveBase
from pybricks.tools import wait, StopWatch

# --- SETUP
hub = PrimeHub()
force_sensor = ForceSensor(Port.F)

# --- MAIN LOOP
while True:
    force_reading = round(force_sensor.force(), 1)
    distance_reading = round(force_sensor.distance(), 1)
    is_pressed = force_sensor.pressed(3)
    is_touched = force_sensor.touched()

    print(
        "Force:", force_reading,
        "\tDistance:", distance_reading,
        "\tForce > 3:", is_pressed,
        "\tTouched:", is_touched
    )

Color Sensor

Color Sensor Example

# color_sensor

from pybricks.hubs import PrimeHub
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
from pybricks.robotics import DriveBase
from pybricks.tools import wait, StopWatch

# --- SETUP
hub = PrimeHub()
color_sensor = ColorSensor(Port.D)
modes = ["S", "L", "R", "A"]
mode = 0

# --- MAIN LOOP
while True:
    presses = hub.buttons.pressed()

    if Button.LEFT in presses and mode > 0:
        mode -= 1
        wait(250)
    elif Button.RIGHT in presses and mode < 3:
        mode += 1
        wait(250)

    hub.display.char(modes[mode])
    
    if mode == 0:
        print(color_sensor.color())
    elif mode == 1:
        print(color_sensor.color(False))
    elif mode == 2:
        print(color_sensor.reflection())
    elif mode == 3:
        print(color_sensor.ambient())

Distance Sensor

Distance Sensor Example

# distance_sensor.py

from pybricks.hubs import PrimeHub
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
from pybricks.robotics import DriveBase
from pybricks.tools import wait, StopWatch

# --- SETUP
hub = PrimeHub()
distance_sensor = UltrasonicSensor(Port.C)

# --- MAIN LOOP
while True:
    distance = distance_sensor.distance()
    present = distance_sensor.presence()

    print("Distance:", distance, "\tDetected other sensor:", present)

    distance_sensor.lights.off()
    wait(100)
    distance_sensor.lights.on(100)