RP2040 Competition Simulator

Help & Reference

Import once at the top of every challenge:

from aidriver import AIDriver, hold_state
      from config_check import validate_config
      import aidriver
      import config

      # Inside main(), before movement:
      validate_config(config, AIDriver.MIN_MOTOR_SPEED)
      aidriver.DEBUG_AIDRIVER = config.DEBUG_AIDRIVER
      my_robot = AIDriver(
          config.WALL_SIDE,
          distance_sensor=config.DISTANCE_SENSOR,
          min_approach_speed=config.MIN_APPROACH_SPEED,
          kit_servo_pin=config.KIT_SERVO_PIN,
      )

Sensors

my_robot.read_distance() Front ultrasonic. Returns mm (20–2000) or -1 if out of range / no echo.

my_robot.read_distance_2() Side ultrasonic (the wall-follow sensor). Same units, same -1 sentinel — used to detect outside corners.

Driving

my_robot.drive(right_speed, left_speed) Preferred for PID. Signed speeds (-255…255): positive = forward, negative = backward. Anything with abs(speed) < 120 stops that wheel (MIN_MOTOR_SPEED dead zone).

my_robot.drive_forward(right_speed, left_speed) Both wheels forward at unsigned speeds (0–255).

my_robot.drive_backward(right_speed, left_speed) Both wheels backward at unsigned speeds (0–255).

my_robot.rotate_left(turn_speed) Spin in place counter-clockwise at turn_speed.

my_robot.rotate_right(turn_speed) Spin in place clockwise at turn_speed.

my_robot.brake() Cut power to both motors.

State / Diagnostics

my_robot.wall_sign Property: -1 when constructed with "left", +1 for "right". Multiply your steering term by it so the same code mirror-solves both modes.

my_robot.get_motor_speeds() Returns the last commanded (right_speed, left_speed) tuple.

my_robot.is_moving() Returns True if either wheel is currently powered.

Module Helpers

hold_state(seconds) Pause for seconds while retaining the current motor outputs. Use config.LOOP_DT for the normal control loop.

config.DEBUG_AIDRIVER = True / False Toggle verbose [AIDriver] log output. Off by default in answers; turn it on while debugging your own code.

Constants

MIN_MOTOR_SPEED = 120 — library-owned motor floor. steer() limits correction to keep the slower wheel at or above that floor.
Ultrasonic range: 20 mm – 2000 mm. Outside this range both read_distance() and read_distance_2() return -1.

Speed Guidelines

0–119: Below dead zone — wheel stops
120–140: Slow / careful
141–200: Normal cruise
201–255: Fast — watch for slip on turns

Keyboard Shortcuts

Ctrl+Enter - Run code
Ctrl+. - Stop execution
Ctrl+Shift+R - Reset robot

Troubleshooting

Having issues? Download a debug log to share with your teacher or for troubleshooting.