Pybricks 2.0 code for remote controlled race car with another EV3 brick

main-car.py

#!/usr/bin/env pybricks-micropython

# car code

from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
                                 InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch

ev3 = EV3Brick()

left_motor = Motor(Port.B)
right_motor = Motor(Port.C)
steer_motor = Motor(Port.A)

# Auto center steering wheels.
steer_motor.run_until_stalled(250)
steer_motor.reset_angle(80)
steer_motor.run_target(300,0)

#Still have to integrate this in an automated test. For now it's copy-paste
from pybricks.messaging import (BluetoothMailboxServer, 
BluetoothMailboxClient, Mailbox, TextMailbox, NumericMailbox, LogicMailbox)

server = BluetoothMailboxServer()
server.wait_for_connection(1)
ev3.speaker.beep()

steering = NumericMailbox('left', server)
throttle = NumericMailbox('fwd', server)

while True:
    steering.wait()
    steer_tgt = steering.read()
    if steer_tgt:
        steer_motor.track_target(steer_tgt)

    throttle.wait()
    throttle_tgt = throttle.read()
    if throttle_tgt:
        left_motor.dc(throttle_tgt - throttle_tgt * 0.01 * steer_tgt)
        right_motor.dc(throttle_tgt + throttle_tgt * 0.01 * steer_tgt)

main-rc.py

#!/usr/bin/env /home/robot/remote_control_bt/pybricks-micropython

# Remote control code
# Don't pick it up until it beeps, or the Gyro calibration will be off.

from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
                                 InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch
from pybricks.nxtdevices import SoundSensor

ev3 = EV3Brick()

gyro = GyroSensor(Port.S3)
snd = SoundSensor(Port.S2)
ts_l = TouchSensor(Port.S1)
ts_r = TouchSensor(Port.S4)

from pybricks.messaging import BluetoothMailboxServer, BluetoothMailboxClient, Mailbox, TextMailbox, NumericMailbox, LogicMailbox

# Replace this by the Bluetooth address of the car
# Remember to pair both EV3 bricks first.
car_2 = "00:17:E7:AD:B2:8F"  

client = BluetoothMailboxClient()
client.connect(car_2)
ev3.speaker.beep()
print("Connected to {}".format(car_2))

steering = NumericMailbox('left', client)
throttle = NumericMailbox('fwd', client)

while True:
    steering.send(gyro.angle())
    if ts_l.pressed():
        throttle.send(-snd.intensity())
    else:
        throttle.send(snd.intensity())

    if Button.CENTER in ev3.buttons.pressed() or ts_r.pressed():
        gyro.reset_angle(0)

    if Button.DOWN in ev3.buttons.pressed():
        client.close()
        break
    wait(16)