Fix error with new pybricks firmware due to reliance on DCMotor (#174)

CHANGELOG.md

@@ -11,6 +11,7 @@
 
 ### Fixed
 
+- Fix pybricks error with motors with rotation encoders in pybricks 3.3-stable (https://github.com/Novakasa/brickrail/issues/174).
 - Don't allow adding train to occupied block. This previously created invalid state.
 - Fixed Switches and Crossing motors invalidated port when renaming a hub (https://github.com/Novakasa/brickrail/issues/163)
 

ble-server/hub_programs/layout_controller.py

@@ -3,7 +3,7 @@
 from uselect import poll
 from usys import stdin
 
-from pybricks.pupdevices import DCMotor
+from pybricks.pupdevices import DCMotor, Motor
 from pybricks.parameters import Port
 from pybricks.tools import wait, StopWatch
 
@@ -51,7 +51,10 @@ def get_port(index):
 
 class Crossing:
     def __init__(self, port):
-        self. motor = DCMotor(get_port(port))
+        try:
+            self.motor = DCMotor(get_port(port))
+        except OSError:
+            self.motor = Motor(get_port(port))
         self.position = _CROSSING_POS_UP
         self.port = port
         self.stopwatch = StopWatch()
@@ -82,7 +85,10 @@ def execute(self, data):
 
 class Switch:
     def __init__(self, port, pulse_duration = 600):
-        self.motor = DCMotor(get_port(port))
+        try:
+            self.motor = DCMotor(get_port(port))
+        except OSError:
+            self.motor = Motor(get_port(port))
         self.position = _SWITCH_POS_NONE
         self.port = port
         self.pulse_duration = pulse_duration

ble-server/hub_programs/smart_train.py

@@ -1,7 +1,7 @@
 from micropython import const
 from ustruct import pack, pack_into
 
-from pybricks.pupdevices import ColorDistanceSensor, DCMotor
+from pybricks.pupdevices import ColorDistanceSensor, DCMotor, Motor
 from pybricks.parameters import Port
 
 from io_hub_unfrozen import IOHub, VERSION
@@ -112,7 +112,10 @@ class TrainMotor:
     def __init__(self):
         self.speed = 0
         self.target_speed = 0
-        self.motor = DCMotor(Port.A)
+        try:
+            self.motor = DCMotor(Port.A)
+        except OSError:
+            self.motor = Motor(Port.A)
         self.direction = 1
 
     def flip_direction(self):

brickrail-gui/brickrail-layouts/ble_test.brl

@@ -3,7 +3,7 @@
 	"devices": {
 		"trains": [
 			{
-				"name": "city-blue",
+				"name": "city_hub",
 				"storage": {
 					"0": 3500,
 					"1": 40,
@@ -881,7 +881,7 @@
 				"random_targets": true,
 				"block_id": "block2",
 				"blockindex": 0,
-				"ble_train": "city-blue"
+				"ble_train": "city_hub"
 			}
 		]
 	}