带有 PS2 控制器的 Arduino 机器人（PlayStation 2 操纵杆）

代码

• 草图 #1
• 草图 #2
• 草图 #3
• 草图 #4

草图 #1Arduino

// Igor Fonseca @2019 的 PS2 坦克// 使用 PS2 操纵杆控制机器人坦克，使用方向键// 基于 Bill Porter 2011 年使用 PS2X 库的示例// 以上所有文本必须包括在内在任何重新分发中。// 包含库#include // 这些用于设置桥驱动程序的方向。#define ENA 3 //ENA#define MOTORA_1 4 //IN3#define MOTORA_2 5 //IN4 #define MOTORB_1 8 //IN1#define MOTORB_2 7 //IN2#define ENB 6 //ENBPS2X ps2x; //创建PS2控制器类//现在，该库不支持热插拔控制器，这意味着//您必须始终在连接控制器后重新启动Arduino，//或在连接控制器后再次调用config_gamepad(pins)。整数错误 =0; byte type =0;byte vibrate =0;void setup(){ // 配置输出引脚 pinMode(ENA, OUTPUT); pinMode（MOTORA_1，输出）； pinMode（MOTORA_2，输出）； pinMode（ENB，输出）； pinMode（MOTORB_1，输出）； pinMode（MOTORB_2，输出）； // 禁用两个电机 digitalWrite(ENA,0);数字写入（ENB，0）； // 开始串行通信 Serial.begin(57600);错误 =ps2x.config_gamepad(13,11,10,12, true, true); //设置引脚和设置：GamePad(clock, command, attention, data, Pressures?, Rumble?) 检查错误 // 检查错误 if(error ==0){ Serial.println("Found Controller,configuration successfully" ); } else if(error ==1) Serial.println("No controller found, check wiring or reset the Arduino"); else if(error ==2) Serial.println("Controller found but not accepting commands"); else if(error ==3) Serial.println("Controller refusing to enter Pressures mode, may not support it."); // Check for the type of controller type =ps2x.readType(); switch(type) { case 0:Serial.println("Unknown Controller type");休息; case 1:Serial.println("DualShock Controller Found");休息; case 2:Serial.println("GuitarHero Controller Found");休息; }}// Main loopvoid loop(){ if(error ==1) //skip loop if no controller found return; else { //DualShock Controller ps2x.read_gamepad(false, vibrate); // disable vibration of the controller // Perform movements based on D-pad buttons // MOVE FORWARD if(ps2x.Button(PSB_PAD_UP)) { digitalWrite(MOTORA_1,LOW); digitalWrite(MOTORA_2,HIGH); digitalWrite(MOTORB_1,HIGH); digitalWrite(MOTORB_2,LOW); analogWrite(ENB, 1023); analogWrite(ENA, 1023); Serial.println("Move forward"); } // TURN RIGHT if(ps2x.Button(PSB_PAD_RIGHT)){ digitalWrite(MOTORA_1,HIGH); digitalWrite(MOTORA_2,LOW); digitalWrite(MOTORB_1,HIGH); digitalWrite(MOTORB_2,LOW); analogWrite(ENB, 1023); analogWrite(ENA, 1023); Serial.println("Turn right"); } // TURN LEFT if(ps2x.Button(PSB_PAD_LEFT)){ digitalWrite(MOTORA_1,LOW); digitalWrite(MOTORA_2,HIGH); digitalWrite(MOTORB_1,LOW); digitalWrite(MOTORB_2,HIGH); analogWrite(ENB, 1023); analogWrite(ENA, 1023); Serial.println("Turn left"); } // MOVE BACK if(ps2x.Button(PSB_PAD_DOWN)){ digitalWrite(MOTORA_1,HIGH); digitalWrite(MOTORA_2,LOW); digitalWrite(MOTORB_1,LOW); digitalWrite(MOTORB_2,HIGH); analogWrite(ENB, 1023); analogWrite(ENA, 1023); Serial.println("Move back"); } if (!ps2x.Button(PSB_PAD_DOWN) &&!ps2x.Button(PSB_PAD_UP) &&!ps2x.Button(PSB_PAD_RIGHT) &&!ps2x.Button(PSB_PAD_LEFT)) { analogWrite(ENB, 0); analogWrite(ENA, 0); } delay(50); } }

Sketch #2Arduino

// PS2 Tank by Igor Fonseca @2019// Controls a robotic tank using a PS2 joystick, using D-pad buttons// based on an example using the PS2X library by Bill Porter 2011// All text above must be included in any redistribution.// include libraries#include // These are used to set the direction of the bridge driver.#define ENA 3 //ENA#define MOTORA_1 4 //IN3#define MOTORA_2 5 //IN4#define MOTORB_1 8 //IN1#define MOTORB_2 7 //IN2#define ENB 6 //ENBint motor_right_speed =0;int motor_left_speed =0;PS2X ps2x; // create PS2 Controller Class//right now, the library does NOT support hot pluggable controllers, meaning //you must always either restart your Arduino after you conect the controller, //or call config_gamepad(pins) again after connecting the controller.int error =0; byte type =0;byte vibrate =0;void setup(){ // Configure output pins pinMode(ENA, OUTPUT); pinMode(MOTORA_1, OUTPUT); pinMode(MOTORA_2, OUTPUT); pinMode(ENB, OUTPUT); pinMode(MOTORB_1, OUTPUT); pinMode(MOTORB_2, OUTPUT); // Disable both motors digitalWrite(ENA,0); digitalWrite(ENB,0); // Start serial communication Serial.begin(57600); error =ps2x.config_gamepad(13,11,10,12, true, true); //setup pins and settings:GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error // Check for error if(error ==0){ Serial.println("Found Controller, configured successful"); } else if(error ==1) Serial.println("No controller found, check wiring or reset the Arduino"); else if(error ==2) Serial.println("Controller found but not accepting commands"); else if(error ==3) Serial.println("Controller refusing to enter Pressures mode, may not support it."); // Check for the type of controller type =ps2x.readType(); switch(type) { case 0:Serial.println("Unknown Controller type");休息; case 1:Serial.println("DualShock Controller Found");休息; case 2:Serial.println("GuitarHero Controller Found");休息; }}// Main loopvoid loop(){ if(error ==1) //skip loop if no controller found return; else { //DualShock Controller ps2x.read_gamepad(false, vibrate); // disable vibration of the controller int nJoyL =ps2x.Analog(PSS_LX); // read left stick nJoyL =map(nJoyL, 0, 255, 1023, -1023); int motor_right_speed =1023; int motor_left_speed =1023; if (nJoyL <0) { motor_right_speed =motor_right_speed + nJoyL; } if (nJoyL> 0) { motor_left_speed =motor_left_speed - nJoyL; } if(ps2x.Button(PSB_R2)) { digitalWrite(MOTORA_1,LOW); digitalWrite(MOTORA_2,HIGH); digitalWrite(MOTORB_1,HIGH); digitalWrite(MOTORB_2,LOW); analogWrite(ENA, motor_right_speed); analogWrite(ENB, motor_left_speed); } if(ps2x.Button(PSB_L2)) { digitalWrite(MOTORA_1,HIGH); digitalWrite(MOTORA_2,LOW); digitalWrite(MOTORB_1,LOW); digitalWrite(MOTORB_2,HIGH); analogWrite(ENA, motor_right_speed); analogWrite(ENB, motor_left_speed); } if(!ps2x.Button(PSB_L2) &&!ps2x.Button(PSB_R2)) { analogWrite(ENA, 0); analogWrite(ENB, 0); } delay(50); } }

Sketch #3Arduino

// PS2 Tank by Igor Fonseca @2019// Controls a robotic tank using a PS2 joystick, using D-pad buttons// based on an example using the PS2X library by Bill Porter 2011// All text above must be included in any redistribution.// include libraries#include // These are used to set the direction of the bridge driver.#define ENA 3 //ENA#define MOTORA_1 4 //IN3#define MOTORA_2 5 //IN4#define MOTORB_1 8 //IN1#define MOTORB_2 7 //IN2#define ENB 6 //ENBPS2X ps2x; // create PS2 Controller Class//right now, the library does NOT support hot pluggable controllers, meaning //you must always either restart your Arduino after you conect the controller, //or call config_gamepad(pins) again after connecting the controller.int error =0; byte type =0;byte vibrate =0;void setup(){ // Configure output pins pinMode(ENA, OUTPUT); pinMode(MOTORA_1, OUTPUT); pinMode(MOTORA_2, OUTPUT); pinMode(ENB, OUTPUT); pinMode(MOTORB_1, OUTPUT); pinMode(MOTORB_2, OUTPUT); // Disable both motors digitalWrite(ENA,0); digitalWrite(ENB,0); // Start serial communication Serial.begin(57600); error =ps2x.config_gamepad(13,11,10,12, true, true); //setup pins and settings:GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error // Check for error if(error ==0){ Serial.println("Found Controller, configured successful"); } else if(error ==1) Serial.println("No controller found, check wiring or reset the Arduino"); else if(error ==2) Serial.println("Controller found but not accepting commands"); else if(error ==3) Serial.println("Controller refusing to enter Pressures mode, may not support it."); // Check for the type of controller type =ps2x.readType(); switch(type) { case 0:Serial.println("Unknown Controller type");休息; case 1:Serial.println("DualShock Controller Found");休息; case 2:Serial.println("GuitarHero Controller Found");休息; }}// Main loopvoid loop(){ if(error ==1) //skip loop if no controller found return; else { //DualShock Controller ps2x.read_gamepad(false, vibrate); // disable vibration of the controller int nJoyL =ps2x.Analog(PSS_LY); // read left stick int nJoyR =ps2x.Analog(PSS_RY); // read right stick nJoyL =map(nJoyL, 0, 255, 1023, -1023); nJoyR =map(nJoyR, 0, 255, -1023, 1023); // Perform movements based on both analog sticks if(nJoyR>50) { digitalWrite(MOTORA_1,HIGH); digitalWrite(MOTORA_2,LOW); analogWrite(ENA, 1023); } if(nJoyR<-50) { digitalWrite(MOTORA_1,LOW); digitalWrite(MOTORA_2,HIGH); analogWrite(ENA, 1023); } if (abs(nJoyR)<50) { analogWrite(ENA, 0); } if(nJoyL>50) { digitalWrite(MOTORB_1,HIGH); digitalWrite(MOTORB_2,LOW); analogWrite(ENB, 1023); } if(nJoyL<-50) { digitalWrite(MOTORB_1,LOW); digitalWrite(MOTORB_2,HIGH); analogWrite(ENB, 1023); } if (abs(nJoyL)<50) { analogWrite(ENB, 0); } delay(50); } }

Sketch #4Arduino

// PS2 Tank by Igor Fonseca @2019// Controls a robotic tank using a PS2 joystick, using left analog stick// based on an example using the PS2X library by Bill Porter 2011// All text above must be included in any redistribution.// include libraries#include  //for v1.6// These are used to set the direction of the bridge driver.#define ENA 3 //ENA#define MOTORA_1 4 //IN3#define MOTORA_2 5 //IN4#define MOTORB_1 8 //IN1#define MOTORB_2 7 //IN2#define ENB 6 //ENBint motor_right_speed =0;int motor_left_speed =0;PS2X ps2x; // create PS2 Controller Class//right now, the library does NOT support hot pluggable controllers, meaning //you must always either restart your Arduino after you conect the controller, //or call config_gamepad(pins) again after connecting the controller.int error =0; byte type =0;byte vibrate =0;void setup(){ // Configure output pins pinMode(ENA, OUTPUT); pinMode(MOTORA_1, OUTPUT); pinMode(MOTORA_2, OUTPUT); pinMode(ENB, OUTPUT); pinMode(MOTORB_1, OUTPUT); pinMode(MOTORB_2, OUTPUT); // Disable both motors digitalWrite(ENA,0); digitalWrite(ENB,0); // Start serial communication Serial.begin(57600); error =ps2x.config_gamepad(13,11,10,12, true, true); //setup pins and settings:GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error // Check for error if(error ==0){ Serial.println("Found Controller, configured successful"); } else if(error ==1) Serial.println("No controller found, check wiring or reset the Arduino"); else if(error ==2) Serial.println("Controller found but not accepting commands"); else if(error ==3) Serial.println("Controller refusing to enter Pressures mode, may not support it."); // Check for the type of controller type =ps2x.readType(); switch(type) { case 0:Serial.println("Unknown Controller type");休息; case 1:Serial.println("DualShock Controller Found");休息; case 2:Serial.println("GuitarHero Controller Found");休息; }}// Main loopvoid loop(){ if(error ==1) //skip loop if no controller found return; else { //DualShock Controller ps2x.read_gamepad(false, vibrate); // disable vibration of the controller int nJoyX =ps2x.Analog(PSS_LX); // read x-joystick int nJoyY =ps2x.Analog(PSS_LY); // read y-joystick nJoyX =map(nJoyX, 0, 255, -1023, 1023); nJoyY =map(nJoyY, 0, 255, 1023, -1023); // OUTPUTS int nMotMixL; // Motor (left) mixed output int nMotMixR; // Motor (right) mixed output // CONFIG // - fPivYLimt :The threshold at which the pivot action starts // This threshold is measured in units on the Y-axis // away from the X-axis (Y=0). A greater value will assign // more of the joystick's range to pivot actions. // Allowable range:(0..+127) float fPivYLimit =1023.0; // TEMP VARIABLES float nMotPremixL; // Motor (left) premixed output float nMotPremixR; // Motor (right) premixed output int nPivSpeed; // Pivot Speed float fPivScale; // Balance scale between drive and pivot // Calculate Drive Turn output due to Joystick X input if (nJoyY>=0) { // Forward nMotPremixL =(nJoyX>=0)? 1023.0 :(1023.0 + nJoyX); nMotPremixR =(nJoyX>=0)? (1023.0 - nJoyX) :1023.0; } else { // Reverse nMotPremixL =(nJoyX>=0)? (1023.0 - nJoyX) :1023.0; nMotPremixR =(nJoyX>=0)? 1023.0 :(1023.0 + nJoyX); } // Scale Drive output due to Joystick Y input (throttle) nMotPremixL =nMotPremixL * nJoyY/1023.0; nMotPremixR =nMotPremixR * nJoyY/1023.0; // Now calculate pivot amount // - Strength of pivot (nPivSpeed) based on Joystick X input // - Blending of pivot vs drive (fPivScale) based on Joystick Y input nPivSpeed =nJoyX; fPivScale =(abs(nJoyY)>fPivYLimit)? 0.0 :(1.0 - abs(nJoyY)/fPivYLimit); // Calculate final mix of Drive and Pivot nMotMixL =(1.0-fPivScale)*nMotPremixL + fPivScale*( nPivSpeed); nMotMixR =(1.0-fPivScale)*nMotPremixR + fPivScale*(-nPivSpeed); motor_left_speed =nMotMixL; motor_right_speed =nMotMixR; if (motor_right_speed> 50) { digitalWrite(MOTORB_1,HIGH); digitalWrite(MOTORB_2,LOW); } else if (motor_right_speed <-50) { digitalWrite(MOTORB_1,LOW); digitalWrite(MOTORB_2, HIGH); } else { digitalWrite(MOTORB_1, LOW); digitalWrite(MOTORB_2, LOW); } if (motor_left_speed> 50) { digitalWrite(MOTORA_1, LOW); digitalWrite(MOTORA_2, HIGH); } else if (motor_left_speed <-50) { digitalWrite(MOTORA_1,HIGH); digitalWrite(MOTORA_2,LOW); } else { digitalWrite(MOTORA_1, LOW); digitalWrite(MOTORA_2, LOW); } analogWrite(ENA, abs(motor_left_speed)); analogWrite(ENB, abs(motor_right_speed)); if (abs(motor_left_speed> 50) || abs(motor_left_speed> 50)) { Serial.println("Moving!"); } delay(50); } }

示意图