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EV3 beginner examples: Controller PS4

Back to the Controller PS4 product page

This page has 6 examples for people who have never written a program: every example comes with a ready-made program file you can download and run, plus a plain-language step-by-step explanation. Start with example 1 and work through in order.

Before you start

  1. Use the EV3 edition of the sensor (RJ12 plug), plugged into port 1 of the EV3.
  2. Turn the EV3 on first, then plug in the sensor. If the number never changes, unplug the sensor and plug it back in.
  3. Examples that drive use the LEGO Education base robot: left wheel motor on B, right wheel motor on C.
  4. The sensor shows up on the EV3 as an "Infrared Sensor". That is normal: read its values with the infrared sensor blocks.

Every example comes in 5 software versions; pick the one you use: (examples marked "Pybricks / EV3 MicroPython / clev3r only" come in those 3 versions only, because the EV3-G and Classroom blocks cannot read that mode)

Software Who it suits How to open the example file
EV3-G (official software) School computer labs, WRO teams (the most common in Taiwan) Download the .ev3 file, choose "File → Open Project" in the EV3 software, then "Download and Run" at the bottom right.
EV3 Classroom First time with EV3, want the same blocks as SPIKE Download the .lmsp file, choose "Open" on the EV3 Classroom home screen, connect the EV3 and press "Download and Run" at the bottom right.
Pybricks v4 Want to learn typed code, works in the browser Open code.pybricks.com in Chrome; the EV3 needs the Pybricks firmware first (currently Beta). Drag the .py file into the editor and press Run.
EV3 MicroPython v2.0 Already using the official LEGO EV3 MicroPython Use the official LEGO "EV3 MicroPython" microSD boot card + the VS Code extension; paste the program into main.py and press F5 to download and run.
clev3r Already using clev3r (EV3 Basic) Open the .bp file in clev3r, press "Compile and download", then run it from the MBC_ folder in the EV3 file browser.

The 10 values used on this page

Name Range Where it comes from
D-pad (up 1, right 2, down 4, left 8) 0 ~ 15 Mode 1, value 1
Shape buttons (▲1, ●2, ✕4, ■8) 0 ~ 15 Mode 1, value 3
Shoulder buttons (L2 1, R2 2, L1 4, R1 8) 0 ~ 15 Mode 1, value 5
Function buttons (SELECT 1, L3 2, R3 4, START 8) 0 ~ 15 Mode 1, value 7
Left stick left/right 0 ~ 99, 50 = centre, bigger to the right Mode 1, value 2
Left stick up/down 0 ~ 99, 50 = centre, bigger upwards Mode 1, value 4
Right stick left/right 0 ~ 99, 50 = centre, bigger to the right Mode 1, value 6
Right stick up/down 0 ~ 99, 50 = centre, bigger upwards Mode 1, value 8
D-pad (up 1, right 2, down 4, left 8; pressing two adds up) 0 ~ 15 Mode 0
D-pad + shape buttons + connection 0 ~ 511: D-pad (0~15) + shape × 16 + connected × 256; 256 or more = gamepad connected Mode 3, value 1 (Pybricks / EV3 MicroPython / clev3r only)

Example list:

  1. Button tester: see the number of every button
  2. Drive with the D-pad
  3. Left stick controls one motor speed
  4. Two-stick tank drive
  5. ✕ to grab, ● to release: control a gripper
  6. Start only when the gamepad is connected (Pybricks / EV3 MicroPython / clev3r only)

Example 1: Button tester: see the number of every button

What this example does: Mode 1 sends 8 numbers at once: 4 button groups and 4 stick values. This example shows them all on the screen; press and push everything and you will know each value.

What you need:

  • Controller PS4 Bluetooth receiver (EV3 edition) + gamepad
  • EV3 brick

How to connect: Bluetooth receiver in port 1. The first time, pair the PS4/PS5 gamepad as described on the product page; afterwards pressing the PS button connects automatically.

Download the program (pick your software):

⬇ EV3-G (official software) ｜ ⬇ EV3 Classroom ｜ ⬇ Pybricks v4 ｜ ⬇ EV3 MicroPython v2.0 ｜ ⬇ clev3r

EV3-G (official software) blocks

Controller PS4 Button tester: see the number of every button（EV3-G (official software)）

(Too small? Click the picture to open it full size.)

EV3 Classroom blocks

Controller PS4 Button tester: see the number of every button（EV3 Classroom）

(Too small? Click the picture to open it full size.)

Pybricks v4 code 
# ============================================================
# 掌控者 PS4/PS5 藍牙遙控接收器 EV3 新手範例 01：按鍵測試器：看看每個按鍵的數字
# 軟體：Pybricks v4（用 Chrome 打開 https://code.pybricks.com ，EV3 版目前是 Beta）
# 接法：掌控者 PS4插 1 號孔
# 這個範例會做什麼：模式 1 一次送出 8 個數字：4 組按鍵和 4 個搖桿值。這個範例把它們全部顯示在螢幕上，按按看、推推看，就知道每個按鍵是多少。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.iodevices import LUMPDevice
from pybricks.parameters import Port, Color
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = LUMPDevice(Port.S1)       # 掌控者 PS4插 1 號孔


def read_dpad1():
    # 方向鍵（上 1、右 2、下 4、左 8）：0 ~ 15
    return sensor.read(1)[0]


def read_shape():
    # 形狀鍵（▲1、●2、✕4、■8）：0 ~ 15
    return sensor.read(1)[2]


def read_shoulder():
    # 肩鍵（L2 1、R2 2、L1 4、R1 8）：0 ~ 15
    return sensor.read(1)[4]


def read_func():
    # 功能鍵（SELECT 1、L3 2、R3 4、START 8）：0 ~ 15
    return sensor.read(1)[6]


def read_lx():
    # 左搖桿左右：0 ~ 99，50＝中間，往右變大
    return sensor.read(1)[1]


def read_ly():
    # 左搖桿上下：0 ~ 99，50＝中間，往上變大
    return sensor.read(1)[3]


def read_rx():
    # 右搖桿左右：0 ~ 99，50＝中間，往右變大
    return sensor.read(1)[5]


def read_ry():
    # 右搖桿上下：0 ~ 99，50＝中間，往上變大
    return sensor.read(1)[7]


# ---------- 程式從這裡開始 ----------
# 清除螢幕
ev3.screen.clear()
# 一直重複
while True:
    # 方向鍵：上 1、右 2、下 4、左 8
    ev3.screen.draw_text(0, 0, "DPAD " + str(read_dpad1()) + "      ", Color.BLACK, Color.WHITE)
    # 形狀鍵：▲1、●2、✕4、■8
    ev3.screen.draw_text(0, 16, "SHAPE " + str(read_shape()) + "      ", Color.BLACK, Color.WHITE)
    # 肩鍵：L2 1、R2 2、L1 4、R1 8
    ev3.screen.draw_text(0, 32, "SHLD " + str(read_shoulder()) + "      ", Color.BLACK, Color.WHITE)
    # 功能鍵：SELECT 1、L3 2、R3 4、START 8
    ev3.screen.draw_text(0, 48, "FUNC " + str(read_func()) + "      ", Color.BLACK, Color.WHITE)
    # 左搖桿左右（50＝中間）
    ev3.screen.draw_text(0, 64, "LX " + str(read_lx()) + "      ", Color.BLACK, Color.WHITE)
    # 左搖桿上下（50＝中間）
    ev3.screen.draw_text(0, 80, "LY " + str(read_ly()) + "      ", Color.BLACK, Color.WHITE)
    # 右搖桿左右
    ev3.screen.draw_text(0, 96, "RX " + str(read_rx()) + "      ", Color.BLACK, Color.WHITE)
    # 右搖桿上下
    ev3.screen.draw_text(0, 112, "RY " + str(read_ry()) + "      ", Color.BLACK, Color.WHITE)
    # 等 0.1 秒
    wait(100)
EV3 MicroPython v2.0 code 
#!/usr/bin/env pybricks-micropython
# ============================================================
# 掌控者 PS4/PS5 藍牙遙控接收器 EV3 新手範例 01：按鍵測試器：看看每個按鍵的數字
# 軟體：樂高官方 EV3 MicroPython v2.0（microSD 開機卡＋VS Code「LEGO MINDSTORMS EV3 MicroPython」擴充套件）
# 接法：掌控者 PS4插 1 號孔
# 這個範例會做什麼：模式 1 一次送出 8 個數字：4 組按鍵和 4 個搖桿值。這個範例把它們全部顯示在螢幕上，按按看、推推看，就知道每個按鍵是多少。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.iodevices import Ev3devSensor
from pybricks.parameters import Port, Color
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = Ev3devSensor(Port.S1)     # 掌控者 PS4插 1 號孔


def read_dpad1():
    # 方向鍵（上 1、右 2、下 4、左 8）：0 ~ 15
    return sensor.read('IR-SEEK')[0]


def read_shape():
    # 形狀鍵（▲1、●2、✕4、■8）：0 ~ 15
    return sensor.read('IR-SEEK')[2]


def read_shoulder():
    # 肩鍵（L2 1、R2 2、L1 4、R1 8）：0 ~ 15
    return sensor.read('IR-SEEK')[4]


def read_func():
    # 功能鍵（SELECT 1、L3 2、R3 4、START 8）：0 ~ 15
    return sensor.read('IR-SEEK')[6]


def read_lx():
    # 左搖桿左右：0 ~ 99，50＝中間，往右變大
    return sensor.read('IR-SEEK')[1]


def read_ly():
    # 左搖桿上下：0 ~ 99，50＝中間，往上變大
    return sensor.read('IR-SEEK')[3]


def read_rx():
    # 右搖桿左右：0 ~ 99，50＝中間，往右變大
    return sensor.read('IR-SEEK')[5]


def read_ry():
    # 右搖桿上下：0 ~ 99，50＝中間，往上變大
    return sensor.read('IR-SEEK')[7]


# ---------- 程式從這裡開始 ----------
# 清除螢幕
ev3.screen.clear()
# 一直重複
while True:
    # 方向鍵：上 1、右 2、下 4、左 8
    ev3.screen.draw_text(0, 0, "DPAD " + str(read_dpad1()) + "      ", Color.BLACK, Color.WHITE)
    # 形狀鍵：▲1、●2、✕4、■8
    ev3.screen.draw_text(0, 16, "SHAPE " + str(read_shape()) + "      ", Color.BLACK, Color.WHITE)
    # 肩鍵：L2 1、R2 2、L1 4、R1 8
    ev3.screen.draw_text(0, 32, "SHLD " + str(read_shoulder()) + "      ", Color.BLACK, Color.WHITE)
    # 功能鍵：SELECT 1、L3 2、R3 4、START 8
    ev3.screen.draw_text(0, 48, "FUNC " + str(read_func()) + "      ", Color.BLACK, Color.WHITE)
    # 左搖桿左右（50＝中間）
    ev3.screen.draw_text(0, 64, "LX " + str(read_lx()) + "      ", Color.BLACK, Color.WHITE)
    # 左搖桿上下（50＝中間）
    ev3.screen.draw_text(0, 80, "LY " + str(read_ly()) + "      ", Color.BLACK, Color.WHITE)
    # 右搖桿左右
    ev3.screen.draw_text(0, 96, "RX " + str(read_rx()) + "      ", Color.BLACK, Color.WHITE)
    # 右搖桿上下
    ev3.screen.draw_text(0, 112, "RY " + str(read_ry()) + "      ", Color.BLACK, Color.WHITE)
    # 等 0.1 秒
    wait(100)
clev3r code 
' ============================================================
' 掌控者 PS4/PS5 藍牙遙控接收器 EV3 新手範例 01：按鍵測試器：看看每個按鍵的數字
' 軟體：clev3r
' 接法：掌控者 PS4插 1 號孔；左輪馬達接 B、右輪馬達接 C
' 這個範例會做什麼：模式 1 一次送出 8 個數字：4 組按鍵和 4 個搖桿值。這個範例把它們全部顯示在螢幕上，按按看、推推看，就知道每個按鍵是多少。
' 讀值：dpad1＝方向鍵（上 1、右 2、下 4、左 8）（0 ~ 15）；shape＝形狀鍵（▲1、●2、✕4、■8）（0 ~ 15）；shoulder＝肩鍵（L2 1、R2 2、L1 4、R1 8）（0 ~ 15）；func＝功能鍵（SELECT 1、L3 2、R3 4、START 8）（0 ~ 15）；lx＝左搖桿左右（0 ~ 99，50＝中間，往右變大）；ly＝左搖桿上下（0 ~ 99，50＝中間，往上變大）；rx＝右搖桿左右（0 ~ 99，50＝中間，往右變大）；ry＝右搖桿上下（0 ~ 99，50＝中間，往上變大）
' ============================================================
folder "prjs" "MBC_ps4_ex01"

' 掌控者 PS4插 1 號孔，使用模式 1
Sensor.SetMode(1, 1)
LCD.Clear()

' 清除螢幕
LCD.Clear()
' 一直重複
While "True"
  ' 方向鍵：上 1、右 2、下 4、左 8
  LCD.Text(1, 0, 0, 1, "DPAD " + Sensor.ReadRawValue(1, 0) + "      ")
  ' 形狀鍵：▲1、●2、✕4、■8
  LCD.Text(1, 0, 16, 1, "SHAPE " + Sensor.ReadRawValue(1, 2) + "      ")
  ' 肩鍵：L2 1、R2 2、L1 4、R1 8
  LCD.Text(1, 0, 32, 1, "SHLD " + Sensor.ReadRawValue(1, 4) + "      ")
  ' 功能鍵：SELECT 1、L3 2、R3 4、START 8
  LCD.Text(1, 0, 48, 1, "FUNC " + Sensor.ReadRawValue(1, 6) + "      ")
  ' 左搖桿左右（50＝中間）
  LCD.Text(1, 0, 64, 1, "LX " + Sensor.ReadRawValue(1, 1) + "      ")
  ' 左搖桿上下（50＝中間）
  LCD.Text(1, 0, 80, 1, "LY " + Sensor.ReadRawValue(1, 3) + "      ")
  ' 右搖桿左右
  LCD.Text(1, 0, 96, 1, "RX " + Sensor.ReadRawValue(1, 5) + "      ")
  ' 右搖桿上下
  LCD.Text(1, 0, 112, 1, "RY " + Sensor.ReadRawValue(1, 7) + "      ")
  ' 等 0.1 秒
  Program.Delay(100)
EndWhile

Step by step:

  1. Clear the screen
  2. Repeat forever
    • D-pad: up 1, right 2, down 4, left 8
    • Shape buttons: ▲1, ●2, ✕4, ■8
    • Shoulder buttons: L2 1, R2 2, L1 4, R1 8
    • Function buttons: SELECT 1, L3 2, R3 4, START 8
    • Left stick left/right (50 = centre)
    • Left stick up/down (50 = centre)
    • Right stick left/right
    • Right stick up/down
    • Wait 0.1 s

What you should see: With nothing pressed the buttons read 0 and the sticks 50. Pressing two buttons adds the numbers, for example up + right = 3.

FAQ:

  • The buttons do nothing? Run example 1 first to see if the numbers change. If not, the gamepad is not connected: power-cycle the gamepad, or turn the EV3 on before plugging in the receiver.
  • The robot keeps creeping after you release the stick? The stick centre is not always exactly 50: lower the × 2 in the program, or add a rule "treat 45~55 as 50".

Example 2: Drive with the D-pad

What this example does: Mode 0 reads only the D-pad: up = forward, down = backward, left/right = spin on the spot, release = stop.

What you need:

  • EV3 brick + Education base robot (left wheel on B, right wheel on C)
  • Controller PS4 Bluetooth receiver (EV3 edition) + gamepad

How to connect: Bluetooth receiver in port 1. The first time, pair the PS4/PS5 gamepad as described on the product page; afterwards pressing the PS button connects automatically.

Download the program (pick your software):

⬇ EV3-G (official software) ｜ ⬇ EV3 Classroom ｜ ⬇ Pybricks v4 ｜ ⬇ EV3 MicroPython v2.0 ｜ ⬇ clev3r

EV3-G (official software) blocks

Controller PS4 Drive with the D-pad（EV3-G (official software)）

(Too small? Click the picture to open it full size.)

EV3 Classroom blocks

Controller PS4 Drive with the D-pad（EV3 Classroom）

(Too small? Click the picture to open it full size.)

Pybricks v4 code 
# ============================================================
# 掌控者 PS4/PS5 藍牙遙控接收器 EV3 新手範例 02：方向鍵開車
# 軟體：Pybricks v4（用 Chrome 打開 https://code.pybricks.com ，EV3 版目前是 Beta）
# 接法：掌控者 PS4插 1 號孔；左輪馬達接 B、右輪馬達接 C
# 這個範例會做什麼：用模式 0 只讀方向鍵，上前進、下後退、左右原地轉，放開就停。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.ev3devices import Motor
from pybricks.iodevices import LUMPDevice
from pybricks.parameters import Port
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = LUMPDevice(Port.S1)       # 掌控者 PS4插 1 號孔
left_motor = Motor(Port.B)        # 左輪
right_motor = Motor(Port.C)       # 右輪


def read_dpad():
    # 方向鍵（上 1、右 2、下 4、左 8，同時按會相加）：0 ~ 15
    return sensor.read(0)[0]


# ---------- 程式從這裡開始 ----------
# 一直重複
while True:
    # 如果方向鍵＝1（上）
    if read_dpad() == 1:
        # 按上：前進
        left_motor.dc(50)
        right_motor.dc(50)
    # 否則，如果方向鍵＝4（下）
    elif read_dpad() == 4:
        # 按下：後退
        left_motor.dc(-50)
        right_motor.dc(-50)
    # 否則，如果方向鍵＝8（左）
    elif read_dpad() == 8:
        # 按左：原地左轉
        left_motor.dc(-30)
        right_motor.dc(30)
    # 否則，如果方向鍵＝2（右）
    elif read_dpad() == 2:
        # 按右：原地右轉
        left_motor.dc(30)
        right_motor.dc(-30)
    else:
        # 都沒按：停車
        left_motor.brake()
        right_motor.brake()
EV3 MicroPython v2.0 code 
#!/usr/bin/env pybricks-micropython
# ============================================================
# 掌控者 PS4/PS5 藍牙遙控接收器 EV3 新手範例 02：方向鍵開車
# 軟體：樂高官方 EV3 MicroPython v2.0（microSD 開機卡＋VS Code「LEGO MINDSTORMS EV3 MicroPython」擴充套件）
# 接法：掌控者 PS4插 1 號孔；左輪馬達接 B、右輪馬達接 C
# 這個範例會做什麼：用模式 0 只讀方向鍵，上前進、下後退、左右原地轉，放開就停。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.ev3devices import Motor
from pybricks.iodevices import Ev3devSensor
from pybricks.parameters import Port
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = Ev3devSensor(Port.S1)     # 掌控者 PS4插 1 號孔
left_motor = Motor(Port.B)        # 左輪
right_motor = Motor(Port.C)       # 右輪


def read_dpad():
    # 方向鍵（上 1、右 2、下 4、左 8，同時按會相加）：0 ~ 15
    return sensor.read('IR-PROX')[0]


# ---------- 程式從這裡開始 ----------
# 一直重複
while True:
    # 如果方向鍵＝1（上）
    if read_dpad() == 1:
        # 按上：前進
        left_motor.dc(50)
        right_motor.dc(50)
    # 否則，如果方向鍵＝4（下）
    elif read_dpad() == 4:
        # 按下：後退
        left_motor.dc(-50)
        right_motor.dc(-50)
    # 否則，如果方向鍵＝8（左）
    elif read_dpad() == 8:
        # 按左：原地左轉
        left_motor.dc(-30)
        right_motor.dc(30)
    # 否則，如果方向鍵＝2（右）
    elif read_dpad() == 2:
        # 按右：原地右轉
        left_motor.dc(30)
        right_motor.dc(-30)
    else:
        # 都沒按：停車
        left_motor.brake()
        right_motor.brake()
clev3r code 
' ============================================================
' 掌控者 PS4/PS5 藍牙遙控接收器 EV3 新手範例 02：方向鍵開車
' 軟體：clev3r
' 接法：掌控者 PS4插 1 號孔；左輪馬達接 B、右輪馬達接 C
' 這個範例會做什麼：用模式 0 只讀方向鍵，上前進、下後退、左右原地轉，放開就停。
' 讀值：dpad＝方向鍵（上 1、右 2、下 4、左 8，同時按會相加）（0 ~ 15）
' ============================================================
folder "prjs" "MBC_ps4_ex02"

' 掌控者 PS4插 1 號孔，使用模式 0
Sensor.SetMode(1, 0)
LCD.Clear()

' 一直重複
While "True"
  ' 如果方向鍵＝1（上）
  If Sensor.ReadRawValue(1, 0) = 1 Then
    ' 按上：前進
    Motor.StartPower("B", 50)
    Motor.StartPower("C", 50)
  ' 否則，如果方向鍵＝4（下）
  ElseIf Sensor.ReadRawValue(1, 0) = 4 Then
    ' 按下：後退
    Motor.StartPower("B", -50)
    Motor.StartPower("C", -50)
  ' 否則，如果方向鍵＝8（左）
  ElseIf Sensor.ReadRawValue(1, 0) = 8 Then
    ' 按左：原地左轉
    Motor.StartPower("B", -30)
    Motor.StartPower("C", 30)
  ' 否則，如果方向鍵＝2（右）
  ElseIf Sensor.ReadRawValue(1, 0) = 2 Then
    ' 按右：原地右轉
    Motor.StartPower("B", 30)
    Motor.StartPower("C", -30)
  Else
    ' 都沒按：停車
    Motor.Stop("BC", "True")
  EndIf
EndWhile

Step by step:

  1. Repeat forever
    • If D-pad = 1 (up)
      • Up pressed: forward
      • Otherwise:
        • Otherwise, if D-pad = 4 (down)
          • Down pressed: backward
          • Otherwise:
            • Otherwise, if D-pad = 8 (left)
              • Left pressed: spin left
              • Otherwise:
                • Otherwise, if D-pad = 2 (right)
                  • Right pressed: spin right
                  • Otherwise:
                    • Nothing pressed: stop

What you should see: Hold a D-pad button and the robot moves; release it and the robot stops.

FAQ:

  • The buttons do nothing? Run example 1 first to see if the numbers change. If not, the gamepad is not connected: power-cycle the gamepad, or turn the EV3 on before plugging in the receiver.
  • The robot keeps creeping after you release the stick? The stick centre is not always exactly 50: lower the × 2 in the program, or add a rule "treat 45~55 as 50".

Example 3: Left stick controls one motor speed

What this example does: A stick reads 099 with 50 in the middle. Subtract 50 and multiply by 2 to get the -100+100 a motor wants: push further to go faster, push down to reverse.

What you need:

  • EV3 brick
  • One large motor on B
  • Controller PS4 Bluetooth receiver (EV3 edition) + gamepad

How to connect: Bluetooth receiver in port 1. The first time, pair the PS4/PS5 gamepad as described on the product page; afterwards pressing the PS button connects automatically.

Download the program (pick your software):

⬇ EV3-G (official software) ｜ ⬇ EV3 Classroom ｜ ⬇ Pybricks v4 ｜ ⬇ EV3 MicroPython v2.0 ｜ ⬇ clev3r

EV3-G (official software) blocks

Controller PS4 Left stick controls one motor speed（EV3-G (official software)）

(Too small? Click the picture to open it full size.)

EV3 Classroom blocks

Controller PS4 Left stick controls one motor speed（EV3 Classroom）

(Too small? Click the picture to open it full size.)

Pybricks v4 code 
# ============================================================
# 掌控者 PS4/PS5 藍牙遙控接收器 EV3 新手範例 03：左搖桿控制一顆馬達的快慢
# 軟體：Pybricks v4（用 Chrome 打開 https://code.pybricks.com ，EV3 版目前是 Beta）
# 接法：掌控者 PS4插 1 號孔；馬達接 B
# 這個範例會做什麼：搖桿的數字是 0~99、中間 50。把它減 50 再乘 2，就變成馬達要的 -100~+100：推越多轉越快，往下推就倒轉。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.ev3devices import Motor
from pybricks.iodevices import LUMPDevice
from pybricks.parameters import Port, Color
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = LUMPDevice(Port.S1)       # 掌控者 PS4插 1 號孔
motor_b = Motor(Port.B)             # B 埠馬達


def read_ly():
    # 左搖桿上下：0 ~ 99，50＝中間，往上變大
    return sensor.read(1)[3]


# ---------- 程式從這裡開始 ----------
# 一直重複
while True:
    # 力量 power ＝（左搖桿上下 − 50）× 2
    power = (read_ly() - 50) * 2
    # B 馬達用 power 的力量轉
    motor_b.dc(power)
    # 螢幕顯示現在的力量
    ev3.screen.draw_text(0, 0, "POWER " + str(power) + "      ", Color.BLACK, Color.WHITE)
EV3 MicroPython v2.0 code 
#!/usr/bin/env pybricks-micropython
# ============================================================
# 掌控者 PS4/PS5 藍牙遙控接收器 EV3 新手範例 03：左搖桿控制一顆馬達的快慢
# 軟體：樂高官方 EV3 MicroPython v2.0（microSD 開機卡＋VS Code「LEGO MINDSTORMS EV3 MicroPython」擴充套件）
# 接法：掌控者 PS4插 1 號孔；馬達接 B
# 這個範例會做什麼：搖桿的數字是 0~99、中間 50。把它減 50 再乘 2，就變成馬達要的 -100~+100：推越多轉越快，往下推就倒轉。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.ev3devices import Motor
from pybricks.iodevices import Ev3devSensor
from pybricks.parameters import Port, Color
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = Ev3devSensor(Port.S1)     # 掌控者 PS4插 1 號孔
motor_b = Motor(Port.B)             # B 埠馬達


def read_ly():
    # 左搖桿上下：0 ~ 99，50＝中間，往上變大
    return sensor.read('IR-SEEK')[3]


# ---------- 程式從這裡開始 ----------
# 一直重複
while True:
    # 力量 power ＝（左搖桿上下 − 50）× 2
    power = (read_ly() - 50) * 2
    # B 馬達用 power 的力量轉
    motor_b.dc(power)
    # 螢幕顯示現在的力量
    ev3.screen.draw_text(0, 0, "POWER " + str(power) + "      ", Color.BLACK, Color.WHITE)
clev3r code 
' ============================================================
' 掌控者 PS4/PS5 藍牙遙控接收器 EV3 新手範例 03：左搖桿控制一顆馬達的快慢
' 軟體：clev3r
' 接法：掌控者 PS4插 1 號孔；左輪馬達接 B、右輪馬達接 C
' 這個範例會做什麼：搖桿的數字是 0~99、中間 50。把它減 50 再乘 2，就變成馬達要的 -100~+100：推越多轉越快，往下推就倒轉。
' 讀值：ly＝左搖桿上下（0 ~ 99，50＝中間，往上變大）
' ============================================================
folder "prjs" "MBC_ps4_ex03"

' 掌控者 PS4插 1 號孔，使用模式 1
Sensor.SetMode(1, 1)
LCD.Clear()

' 一直重複
While "True"
  ' 力量 power ＝（左搖桿上下 − 50）× 2
  power = (Sensor.ReadRawValue(1, 3) - 50) * 2
  ' B 馬達用 power 的力量轉
  Motor.StartPower("B", power)
  ' 螢幕顯示現在的力量
  LCD.Text(1, 0, 0, 1, "POWER " + power + "      ")
EndWhile

Step by step:

  1. Repeat forever
    • Power = (left stick up/down − 50) × 2
    • Motor B runs with power
    • Show the current power on screen

What you should see: Push the left stick up and motor B runs forward, faster the further you push; push down to reverse; release to stop, the screen shows about 0.

FAQ:

  • The buttons do nothing? Run example 1 first to see if the numbers change. If not, the gamepad is not connected: power-cycle the gamepad, or turn the EV3 on before plugging in the receiver.
  • The robot keeps creeping after you release the stick? The stick centre is not always exactly 50: lower the × 2 in the program, or add a rule "treat 45~55 as 50".

Example 4: Two-stick tank drive

What this example does: Left stick drives the left wheel, right stick drives the right wheel, like a tank: push both forward to go forward, one forward and one back to spin.

What you need:

  • EV3 brick + Education base robot (left wheel on B, right wheel on C)
  • Controller PS4 Bluetooth receiver (EV3 edition) + gamepad

How to connect: Bluetooth receiver in port 1. The first time, pair the PS4/PS5 gamepad as described on the product page; afterwards pressing the PS button connects automatically.

Download the program (pick your software):

⬇ EV3-G (official software) ｜ ⬇ EV3 Classroom ｜ ⬇ Pybricks v4 ｜ ⬇ EV3 MicroPython v2.0 ｜ ⬇ clev3r

EV3-G (official software) blocks

Controller PS4 Two-stick tank drive（EV3-G (official software)）

(Too small? Click the picture to open it full size.)

EV3 Classroom blocks

Controller PS4 Two-stick tank drive（EV3 Classroom）

(Too small? Click the picture to open it full size.)

Pybricks v4 code 
# ============================================================
# 掌控者 PS4/PS5 藍牙遙控接收器 EV3 新手範例 04：雙搖桿坦克車
# 軟體：Pybricks v4（用 Chrome 打開 https://code.pybricks.com ，EV3 版目前是 Beta）
# 接法：掌控者 PS4插 1 號孔；左輪馬達接 B、右輪馬達接 C
# 這個範例會做什麼：左搖桿管左輪、右搖桿管右輪，跟開坦克一樣：兩個都往前推就前進，一前一後就原地轉。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.ev3devices import Motor
from pybricks.iodevices import LUMPDevice
from pybricks.parameters import Port
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = LUMPDevice(Port.S1)       # 掌控者 PS4插 1 號孔
left_motor = Motor(Port.B)        # 左輪
right_motor = Motor(Port.C)       # 右輪


def read_ly():
    # 左搖桿上下：0 ~ 99，50＝中間，往上變大
    return sensor.read(1)[3]


def read_ry():
    # 右搖桿上下：0 ~ 99，50＝中間，往上變大
    return sensor.read(1)[7]


# ---------- 程式從這裡開始 ----------
# 一直重複
while True:
    # 左輪力量 ＝（左搖桿上下 − 50）× 2
    left = (read_ly() - 50) * 2
    # 右輪力量 ＝（右搖桿上下 − 50）× 2
    right = (read_ry() - 50) * 2
    # 兩輪各自用自己的力量轉
    left_motor.dc(left)
    right_motor.dc(right)
EV3 MicroPython v2.0 code 
#!/usr/bin/env pybricks-micropython
# ============================================================
# 掌控者 PS4/PS5 藍牙遙控接收器 EV3 新手範例 04：雙搖桿坦克車
# 軟體：樂高官方 EV3 MicroPython v2.0（microSD 開機卡＋VS Code「LEGO MINDSTORMS EV3 MicroPython」擴充套件）
# 接法：掌控者 PS4插 1 號孔；左輪馬達接 B、右輪馬達接 C
# 這個範例會做什麼：左搖桿管左輪、右搖桿管右輪，跟開坦克一樣：兩個都往前推就前進，一前一後就原地轉。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.ev3devices import Motor
from pybricks.iodevices import Ev3devSensor
from pybricks.parameters import Port
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = Ev3devSensor(Port.S1)     # 掌控者 PS4插 1 號孔
left_motor = Motor(Port.B)        # 左輪
right_motor = Motor(Port.C)       # 右輪


def read_ly():
    # 左搖桿上下：0 ~ 99，50＝中間，往上變大
    return sensor.read('IR-SEEK')[3]


def read_ry():
    # 右搖桿上下：0 ~ 99，50＝中間，往上變大
    return sensor.read('IR-SEEK')[7]


# ---------- 程式從這裡開始 ----------
# 一直重複
while True:
    # 左輪力量 ＝（左搖桿上下 − 50）× 2
    left = (read_ly() - 50) * 2
    # 右輪力量 ＝（右搖桿上下 − 50）× 2
    right = (read_ry() - 50) * 2
    # 兩輪各自用自己的力量轉
    left_motor.dc(left)
    right_motor.dc(right)
clev3r code 
' ============================================================
' 掌控者 PS4/PS5 藍牙遙控接收器 EV3 新手範例 04：雙搖桿坦克車
' 軟體：clev3r
' 接法：掌控者 PS4插 1 號孔；左輪馬達接 B、右輪馬達接 C
' 這個範例會做什麼：左搖桿管左輪、右搖桿管右輪，跟開坦克一樣：兩個都往前推就前進，一前一後就原地轉。
' 讀值：ly＝左搖桿上下（0 ~ 99，50＝中間，往上變大）；ry＝右搖桿上下（0 ~ 99，50＝中間，往上變大）
' ============================================================
folder "prjs" "MBC_ps4_ex04"

' 掌控者 PS4插 1 號孔，使用模式 1
Sensor.SetMode(1, 1)
LCD.Clear()

' 一直重複
While "True"
  ' 左輪力量 ＝（左搖桿上下 − 50）× 2
  left = (Sensor.ReadRawValue(1, 3) - 50) * 2
  ' 右輪力量 ＝（右搖桿上下 − 50）× 2
  right = (Sensor.ReadRawValue(1, 7) - 50) * 2
  ' 兩輪各自用自己的力量轉
  Motor.StartPower("B", left)
  Motor.StartPower("C", right)
EndWhile

Step by step:

  1. Repeat forever
    • Left wheel power = (left stick up/down − 50) × 2
    • Right wheel power = (right stick up/down − 50) × 2
    • Each wheel runs with its own power

What you should see: Push both sticks forward and the robot drives forward; left forward and right back and it spins right.

FAQ:

  • The buttons do nothing? Run example 1 first to see if the numbers change. If not, the gamepad is not connected: power-cycle the gamepad, or turn the EV3 on before plugging in the receiver.
  • The robot keeps creeping after you release the stick? The stick centre is not always exactly 50: lower the × 2 in the program, or add a rule "treat 45~55 as 50".

Example 5: ✕ to grab, ● to release: control a gripper

What this example does: Use the shape buttons to control a medium motor (gripper) on port A: ✕ closes, ● opens, nothing pressed stops.

What you need:

  • EV3 brick
  • Medium motor on A (built as a gripper)
  • Controller PS4 Bluetooth receiver (EV3 edition) + gamepad

How to connect: Bluetooth receiver in port 1. The first time, pair the PS4/PS5 gamepad as described on the product page; afterwards pressing the PS button connects automatically.

Download the program (pick your software):

⬇ EV3-G (official software) ｜ ⬇ EV3 Classroom ｜ ⬇ Pybricks v4 ｜ ⬇ EV3 MicroPython v2.0 ｜ ⬇ clev3r

EV3-G (official software) blocks

Controller PS4 ✕ to grab, ● to release: control a gripper（EV3-G (official software)）

(Too small? Click the picture to open it full size.)

EV3 Classroom blocks

Controller PS4 ✕ to grab, ● to release: control a gripper（EV3 Classroom）

(Too small? Click the picture to open it full size.)

Pybricks v4 code 
# ============================================================
# 掌控者 PS4/PS5 藍牙遙控接收器 EV3 新手範例 05：✕ 夾、● 放：控制夾爪
# 軟體：Pybricks v4（用 Chrome 打開 https://code.pybricks.com ，EV3 版目前是 Beta）
# 接法：掌控者 PS4插 1 號孔；馬達接 A
# 這個範例會做什麼：用形狀鍵控制接在 A 埠的中馬達（夾爪）：按 ✕ 夾緊、按 ● 放開，都不按就停。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.ev3devices import Motor
from pybricks.iodevices import LUMPDevice
from pybricks.parameters import Port
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = LUMPDevice(Port.S1)       # 掌控者 PS4插 1 號孔
motor_a = Motor(Port.A)             # A 埠馬達


def read_shape():
    # 形狀鍵（▲1、●2、✕4、■8）：0 ~ 15
    return sensor.read(1)[2]


# ---------- 程式從這裡開始 ----------
# 一直重複
while True:
    # 如果形狀鍵＝4（✕）
    if read_shape() == 4:
        # 按 ✕：夾爪往夾緊的方向轉
        motor_a.dc(40)
    # 否則，如果形狀鍵＝2（●）
    elif read_shape() == 2:
        # 按 ●：夾爪往放開的方向轉
        motor_a.dc(-40)
    else:
        # 都沒按：夾爪停住
        motor_a.brake()
EV3 MicroPython v2.0 code 
#!/usr/bin/env pybricks-micropython
# ============================================================
# 掌控者 PS4/PS5 藍牙遙控接收器 EV3 新手範例 05：✕ 夾、● 放：控制夾爪
# 軟體：樂高官方 EV3 MicroPython v2.0（microSD 開機卡＋VS Code「LEGO MINDSTORMS EV3 MicroPython」擴充套件）
# 接法：掌控者 PS4插 1 號孔；馬達接 A
# 這個範例會做什麼：用形狀鍵控制接在 A 埠的中馬達（夾爪）：按 ✕ 夾緊、按 ● 放開，都不按就停。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.ev3devices import Motor
from pybricks.iodevices import Ev3devSensor
from pybricks.parameters import Port
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = Ev3devSensor(Port.S1)     # 掌控者 PS4插 1 號孔
motor_a = Motor(Port.A)             # A 埠馬達


def read_shape():
    # 形狀鍵（▲1、●2、✕4、■8）：0 ~ 15
    return sensor.read('IR-SEEK')[2]


# ---------- 程式從這裡開始 ----------
# 一直重複
while True:
    # 如果形狀鍵＝4（✕）
    if read_shape() == 4:
        # 按 ✕：夾爪往夾緊的方向轉
        motor_a.dc(40)
    # 否則，如果形狀鍵＝2（●）
    elif read_shape() == 2:
        # 按 ●：夾爪往放開的方向轉
        motor_a.dc(-40)
    else:
        # 都沒按：夾爪停住
        motor_a.brake()
clev3r code 
' ============================================================
' 掌控者 PS4/PS5 藍牙遙控接收器 EV3 新手範例 05：✕ 夾、● 放：控制夾爪
' 軟體：clev3r
' 接法：掌控者 PS4插 1 號孔；左輪馬達接 B、右輪馬達接 C
' 這個範例會做什麼：用形狀鍵控制接在 A 埠的中馬達（夾爪）：按 ✕ 夾緊、按 ● 放開，都不按就停。
' 讀值：shape＝形狀鍵（▲1、●2、✕4、■8）（0 ~ 15）
' ============================================================
folder "prjs" "MBC_ps4_ex05"

' 掌控者 PS4插 1 號孔，使用模式 1
Sensor.SetMode(1, 1)
LCD.Clear()

' 一直重複
While "True"
  ' 如果形狀鍵＝4（✕）
  If Sensor.ReadRawValue(1, 2) = 4 Then
    ' 按 ✕：夾爪往夾緊的方向轉
    Motor.StartPower("A", 40)
  ' 否則，如果形狀鍵＝2（●）
  ElseIf Sensor.ReadRawValue(1, 2) = 2 Then
    ' 按 ●：夾爪往放開的方向轉
    Motor.StartPower("A", -40)
  Else
    ' 都沒按：夾爪停住
    Motor.Stop("A", "True")
  EndIf
EndWhile

Step by step:

  1. Repeat forever
    • If shape buttons = 4 (✕)
      • ✕ pressed: gripper turns to close
      • Otherwise:
        • Otherwise, if shape buttons = 2 (●)
          • ● pressed: gripper turns to open
          • Otherwise:
            • Nothing pressed: gripper stops

What you should see: Hold ✕ and the gripper closes, hold ● and it opens, release and it stops.

FAQ:

  • Close and open are swapped? Swap 40 and -40.
  • The buttons do nothing? Run example 1 first to see if the numbers change. If not, the gamepad is not connected: power-cycle the gamepad, or turn the EV3 on before plugging in the receiver.
  • The robot keeps creeping after you release the stick? The stick centre is not always exactly 50: lower the × 2 in the program, or add a rule "treat 45~55 as 50".

Example 6: Start only when the gamepad is connected

Pybricks v4 / EV3 MicroPython v2.0 / clev3r only (the EV3-G and Classroom blocks cannot read this mode)

What this example does: Before the gamepad connects, the sticks read centre and the buttons 0, so a program cannot tell "nothing pressed" from "not connected". The mode 3 value includes "connected": 256 or more means the gamepad is connected. This example waits for the connection, beeps and starts; then D-pad up (256 + 1) drives forward, down (256 + 4) backward, and it stops at once if the gamepad disconnects.

What you need:

  • EV3 brick + Education base robot (left wheel on B, right wheel on C)
  • Controller PS4 Bluetooth receiver (EV3 edition, firmware v4.0 or later) + gamepad

How to connect: Bluetooth receiver in port 1. Leave the gamepad off until the program is running, so you can watch "waiting → connected".

Download the program (pick your software):

⬇ Pybricks v4 ｜ ⬇ EV3 MicroPython v2.0 ｜ ⬇ clev3r

(The code is the example; no screenshot needed.)

Pybricks v4 code 
# ============================================================
# 掌控者 PS4/PS5 藍牙遙控接收器 EV3 新手範例 06：手把連上才出發
# 軟體：Pybricks v4（用 Chrome 打開 https://code.pybricks.com ，EV3 版目前是 Beta）
# 接法：掌控者 PS4插 1 號孔；左輪馬達接 B、右輪馬達接 C
# 這個範例會做什麼：手把還沒連上時搖桿是中間、按鍵是 0，程式分不出「沒按」和「沒連上」。模式 3 的數字加了「已連線」：大於等於 256 就是手把連上了。這個範例等手把連上才嗶一聲出發，之後用方向鍵上（256＋1）前進、下（256＋4）後退，手把斷線就馬上停車。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.ev3devices import Motor
from pybricks.iodevices import LUMPDevice
from pybricks.parameters import Port, Color
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = LUMPDevice(Port.S1)       # 掌控者 PS4插 1 號孔
left_motor = Motor(Port.B)        # 左輪
right_motor = Motor(Port.C)       # 右輪


def read_status3():
    # 方向鍵＋形狀鍵＋連線狀態：0 ~ 511：方向鍵（0~15）＋ 形狀鍵 × 16 ＋ 已連線 × 256，大於等於 256＝手把已連上
    return sensor.read(3)[0]


# ---------- 程式從這裡開始 ----------
# 清除螢幕
ev3.screen.clear()
# 螢幕顯示 WAIT PAD：等手把
ev3.screen.draw_text(0, 0, "WAIT PAD      ", Color.BLACK, Color.WHITE)
# 等到狀態值大於等於 256（手把已連上）
while not (read_status3() >= 256):
    wait(10)
# 連上了：嗶一聲
ev3.speaker.beep()
# 一直重複
while True:
    # 第 2 行顯示狀態值
    ev3.screen.draw_text(0, 16, "STATUS " + str(read_status3()) + "      ", Color.BLACK, Color.WHITE)
    # 如果狀態值小於 256（手把斷線了）
    if read_status3() < 256:
        # 手把斷線：馬上停車
        left_motor.brake()
        right_motor.brake()
        # 螢幕顯示 PAD LOST
        ev3.screen.draw_text(0, 0, "PAD LOST      ", Color.BLACK, Color.WHITE)
    else:
        # 螢幕顯示 PAD OK
        ev3.screen.draw_text(0, 0, "PAD OK      ", Color.BLACK, Color.WHITE)
        # 如果狀態值＝257（已連上＋方向鍵上）
        if read_status3() == 257:
            # 已連上＋方向鍵上（256＋1）：前進
            left_motor.dc(40)
            right_motor.dc(40)
        # 否則，如果狀態值＝260（已連上＋方向鍵下）
        elif read_status3() == 260:
            # 已連上＋方向鍵下（256＋4）：後退
            left_motor.dc(-40)
            right_motor.dc(-40)
        else:
            # 連上但沒按：停車
            left_motor.brake()
            right_motor.brake()
EV3 MicroPython v2.0 code 
#!/usr/bin/env pybricks-micropython
# ============================================================
# 掌控者 PS4/PS5 藍牙遙控接收器 EV3 新手範例 06：手把連上才出發
# 軟體：樂高官方 EV3 MicroPython v2.0（microSD 開機卡＋VS Code「LEGO MINDSTORMS EV3 MicroPython」擴充套件）
# 接法：掌控者 PS4插 1 號孔；左輪馬達接 B、右輪馬達接 C
# 這個範例會做什麼：手把還沒連上時搖桿是中間、按鍵是 0，程式分不出「沒按」和「沒連上」。模式 3 的數字加了「已連線」：大於等於 256 就是手把連上了。這個範例等手把連上才嗶一聲出發，之後用方向鍵上（256＋1）前進、下（256＋4）後退，手把斷線就馬上停車。
# ============================================================

from pybricks.hubs import EV3Brick
from pybricks.ev3devices import Motor
from pybricks.iodevices import Ev3devSensor
from pybricks.parameters import Port, Color
from pybricks.tools import wait

ev3 = EV3Brick()
sensor = Ev3devSensor(Port.S1)     # 掌控者 PS4插 1 號孔
left_motor = Motor(Port.B)        # 左輪
right_motor = Motor(Port.C)       # 右輪


def read_status3():
    # 方向鍵＋形狀鍵＋連線狀態：0 ~ 511：方向鍵（0~15）＋ 形狀鍵 × 16 ＋ 已連線 × 256，大於等於 256＝手把已連上
    return sensor.read('IR-REM-A')[0]


# ---------- 程式從這裡開始 ----------
# 清除螢幕
ev3.screen.clear()
# 螢幕顯示 WAIT PAD：等手把
ev3.screen.draw_text(0, 0, "WAIT PAD      ", Color.BLACK, Color.WHITE)
# 等到狀態值大於等於 256（手把已連上）
while not (read_status3() >= 256):
    wait(10)
# 連上了：嗶一聲
ev3.speaker.beep()
# 一直重複
while True:
    # 第 2 行顯示狀態值
    ev3.screen.draw_text(0, 16, "STATUS " + str(read_status3()) + "      ", Color.BLACK, Color.WHITE)
    # 如果狀態值小於 256（手把斷線了）
    if read_status3() < 256:
        # 手把斷線：馬上停車
        left_motor.brake()
        right_motor.brake()
        # 螢幕顯示 PAD LOST
        ev3.screen.draw_text(0, 0, "PAD LOST      ", Color.BLACK, Color.WHITE)
    else:
        # 螢幕顯示 PAD OK
        ev3.screen.draw_text(0, 0, "PAD OK      ", Color.BLACK, Color.WHITE)
        # 如果狀態值＝257（已連上＋方向鍵上）
        if read_status3() == 257:
            # 已連上＋方向鍵上（256＋1）：前進
            left_motor.dc(40)
            right_motor.dc(40)
        # 否則，如果狀態值＝260（已連上＋方向鍵下）
        elif read_status3() == 260:
            # 已連上＋方向鍵下（256＋4）：後退
            left_motor.dc(-40)
            right_motor.dc(-40)
        else:
            # 連上但沒按：停車
            left_motor.brake()
            right_motor.brake()
clev3r code 
' ============================================================
' 掌控者 PS4/PS5 藍牙遙控接收器 EV3 新手範例 06：手把連上才出發
' 軟體：clev3r
' 接法：掌控者 PS4插 1 號孔；左輪馬達接 B、右輪馬達接 C
' 這個範例會做什麼：手把還沒連上時搖桿是中間、按鍵是 0，程式分不出「沒按」和「沒連上」。模式 3 的數字加了「已連線」：大於等於 256 就是手把連上了。這個範例等手把連上才嗶一聲出發，之後用方向鍵上（256＋1）前進、下（256＋4）後退，手把斷線就馬上停車。
' 讀值：status3＝方向鍵＋形狀鍵＋連線狀態（0 ~ 511：方向鍵（0~15）＋ 形狀鍵 × 16 ＋ 已連線 × 256，大於等於 256＝手把已連上）
' ============================================================
folder "prjs" "MBC_ps4_ex06"

' 掌控者 PS4插 1 號孔，使用模式 3
Sensor.SetMode(1, 3)
LCD.Clear()

' 清除螢幕
LCD.Clear()
' 螢幕顯示 WAIT PAD：等手把
LCD.Text(1, 0, 0, 1, "WAIT PAD      ")
' 等到狀態值大於等於 256（手把已連上）
While Sensor.ReadRawValue(1, 0) < 256
  Program.Delay(10)
EndWhile
' 連上了：嗶一聲
Speaker.Tone(50, 1000, 100)
Speaker.Wait()
' 一直重複
While "True"
  ' 第 2 行顯示狀態值
  LCD.Text(1, 0, 16, 1, "STATUS " + Sensor.ReadRawValue(1, 0) + "      ")
  ' 如果狀態值小於 256（手把斷線了）
  If Sensor.ReadRawValue(1, 0) < 256 Then
    ' 手把斷線：馬上停車
    Motor.Stop("BC", "True")
    ' 螢幕顯示 PAD LOST
    LCD.Text(1, 0, 0, 1, "PAD LOST      ")
  Else
    ' 螢幕顯示 PAD OK
    LCD.Text(1, 0, 0, 1, "PAD OK      ")
    ' 如果狀態值＝257（已連上＋方向鍵上）
    If Sensor.ReadRawValue(1, 0) = 257 Then
      ' 已連上＋方向鍵上（256＋1）：前進
      Motor.StartPower("B", 40)
      Motor.StartPower("C", 40)
    ' 否則，如果狀態值＝260（已連上＋方向鍵下）
    ElseIf Sensor.ReadRawValue(1, 0) = 260 Then
      ' 已連上＋方向鍵下（256＋4）：後退
      Motor.StartPower("B", -40)
      Motor.StartPower("C", -40)
    Else
      ' 連上但沒按：停車
      Motor.Stop("BC", "True")
    EndIf
  EndIf
EndWhile

Step by step:

  1. Clear the screen
  2. Show WAIT PAD: waiting for the gamepad
  3. Wait until the status value is 256 or more (gamepad connected)
  4. Connected: beep
  5. Repeat forever
    • Row 2 shows the status value
    • If the status value is less than 256 (gamepad disconnected)
      • Gamepad lost: stop at once
      • Show PAD LOST
      • Otherwise:
        • Show PAD OK
        • If the status value = 257 (connected + D-pad up)
          • Connected + D-pad up (256 + 1): forward
          • Otherwise:
            • Otherwise, if the status value = 260 (connected + D-pad down)
              • Connected + D-pad down (256 + 4): backward
              • Otherwise:
                • Connected but nothing pressed: stop

What you should see: The program first shows WAIT PAD with a value below 256; turn the gamepad on and the EV3 beeps, shows PAD OK and the value becomes 256. Hold D-pad up to drive forward (257), down to reverse (260); switch the gamepad off and the robot stops at once and shows PAD LOST.

FAQ:

  • Pressing up does not give 257? A shape button pressed at the same time adds more (shape × 16), for example up + ✕ = 256 + 1 + 64 = 321. Release the other buttons first.
  • The buttons do nothing? Run example 1 first to see if the numbers change. If not, the gamepad is not connected: power-cycle the gamepad, or turn the EV3 on before plugging in the receiver.
  • The number stays at 0 or never changes? This mode needs sensor firmware v4.0 (2026-10) or later; update older firmware first.
  • Why is there no EV3-G / Classroom version? This example uses a new mode (firmware v4, 2026-10). The EV3-G and Classroom infrared blocks cannot read it; only Pybricks, EV3 MicroPython and clev3r can.

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