头文件
#ifndef PS2X_lib_h
#define PS2X_lib_h
#if ARDUINO > 22
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#include <math.h>
#include <stdio.h>
#include <stdint.h>
#ifdef __AVR__
// AVR
#include <avr/io.h>
#define CTRL_CLK 4
#define CTRL_BYTE_DELAY 3
#else
// Pic32...
#include <pins_arduino.h>
#define CTRL_CLK 5
#define CTRL_CLK_HIGH 5
#define CTRL_BYTE_DELAY 4
#endif
//These are our button constants
#define PSB_SELECT 0x0001
#define PSB_L3 0x0002
#define PSB_R3 0x0004
#define PSB_START 0x0008
#define PSB_PAD_UP 0x0010
#define PSB_PAD_RIGHT 0x0020
#define PSB_PAD_DOWN 0x0040
#define PSB_PAD_LEFT 0x0080
#define PSB_L2 0x0100
#define PSB_R2 0x0200
#define PSB_L1 0x0400
#define PSB_R1 0x0800
#define PSB_GREEN 0x1000
#define PSB_RED 0x2000
#define PSB_BLUE 0x4000
#define PSB_PINK 0x8000
#define PSB_TRIANGLE 0x1000
#define PSB_CIRCLE 0x2000
#define PSB_CROSS 0x4000
#define PSB_SQUARE 0x8000
//Guitar button constants
#define UP_STRUM 0x0010
#define DOWN_STRUM 0x0040
#define STAR_POWER 0x0100
#define GREEN_FRET 0x0200
#define YELLOW_FRET 0x1000
#define RED_FRET 0x2000
#define BLUE_FRET 0x4000
#define ORANGE_FRET 0x8000
#define WHAMMY_BAR 8
//These are stick values
#define PSS_RX 5
#define PSS_RY 6
#define PSS_LX 7
#define PSS_LY 8
//These are analog buttons
#define PSAB_PAD_RIGHT 9
#define PSAB_PAD_UP 11
#define PSAB_PAD_DOWN 12
#define PSAB_PAD_LEFT 10
#define PSAB_L2 19
#define PSAB_R2 20
#define PSAB_L1 17
#define PSAB_R1 18
#define PSAB_GREEN 13
#define PSAB_RED 14
#define PSAB_BLUE 15
#define PSAB_PINK 16
#define PSAB_TRIANGLE 13
#define PSAB_CIRCLE 14
#define PSAB_CROSS 15
#define PSAB_SQUARE 16
#define SET(x,y) (x|=(1<<y))
#define CLR(x,y) (x&=(~(1<<y)))
#define CHK(x,y) (x & (1<<y))
#define TOG(x,y) (x^=(1<<y))
class PS2X {
public:
boolean Button(uint16_t); //will be TRUE if button is being pressed
unsigned int ButtonDataByte();
boolean NewButtonState();
boolean NewButtonState(unsigned int); //will be TRUE if button was JUST pressed OR released
boolean ButtonPressed(unsigned int); //will be TRUE if button was JUST pressed
boolean ButtonReleased(unsigned int); //will be TRUE if button was JUST released
void read_gamepad();
boolean read_gamepad(boolean, byte);
byte readType();
byte config_gamepad(uint8_t, uint8_t, uint8_t, uint8_t);
byte config_gamepad(uint8_t, uint8_t, uint8_t, uint8_t, bool, bool);
void enableRumble();
bool enablePressures();
byte Analog(byte);
void reconfig_gamepad();
private:
inline void CLK_SET(void);
inline void CLK_CLR(void);
inline void CMD_SET(void);
inline void CMD_CLR(void);
inline void ATT_SET(void);
inline void ATT_CLR(void);
inline bool DAT_CHK(void);
unsigned char _gamepad_shiftinout (char);
unsigned char PS2data[21];
void sendCommandString(byte*, byte);
unsigned char i;
unsigned int last_buttons;
unsigned int buttons;
#ifdef __AVR__
uint8_t maskToBitNum(uint8_t);
uint8_t _clk_mask;
volatile uint8_t *_clk_oreg;
uint8_t _cmd_mask;
volatile uint8_t *_cmd_oreg;
uint8_t _att_mask;
volatile uint8_t *_att_oreg;
uint8_t _dat_mask;
volatile uint8_t *_dat_ireg;
#else
uint8_t maskToBitNum(uint8_t);
uint16_t _clk_mask;
volatile uint32_t *_clk_lport_set;
volatile uint32_t *_clk_lport_clr;
uint16_t _cmd_mask;
volatile uint32_t *_cmd_lport_set;
volatile uint32_t *_cmd_lport_clr;
uint16_t _att_mask;
volatile uint32_t *_att_lport_set;
volatile uint32_t *_att_lport_clr;
uint16_t _dat_mask;
volatile uint32_t *_dat_lport;
#endif
unsigned long last_read;
byte read_delay;
byte controller_type;
boolean en_Rumble;
boolean en_Pressures;
};
#endif
C文件
#include "PS2X_lib.h"
#include <math.h>
#include <stdio.h>
#include <stdint.h>
#include <avr/io.h>
#if ARDUINO > 22
#include "Arduino.h"
#else
#include "WProgram.h"
#include "pins_arduino.h"
#endif
static byte enter_config[]={
0x01,0x43,0x00,0x01,0x00};
static byte set_mode[]={
0x01,0x44,0x00,0x01,0x03,0x00,0x00,0x00,0x00};
static byte set_bytes_large[]={
0x01,0x4F,0x00,0xFF,0xFF,0x03,0x00,0x00,0x00};
static byte exit_config[]={
0x01,0x43,0x00,0x00,0x5A,0x5A,0x5A,0x5A,0x5A};
static byte enable_rumble[]={
0x01,0x4D,0x00,0x00,0x01};
static byte type_read[]={
0x01,0x45,0x00,0x5A,0x5A,0x5A,0x5A,0x5A,0x5A};
/****************************************************************************************/
boolean PS2X::NewButtonState() {
return ((last_buttons ^ buttons) > 0);
}
/****************************************************************************************/
boolean PS2X::NewButtonState(unsigned int button) {
return (((last_buttons ^ buttons) & button) > 0);
}
/****************************************************************************************/
boolean PS2X::ButtonPressed(unsigned int button) {
return(NewButtonState(button) & Button(button));
}
/****************************************************************************************/
boolean PS2X::ButtonReleased(unsigned int button) {
return((NewButtonState(button)) & ((~last_buttons & button) > 0));
}
/****************************************************************************************/
boolean PS2X::Button(uint16_t button) {
return ((~buttons & button) > 0);
}
/****************************************************************************************/
unsigned int PS2X::ButtonDataByte() {
return (~buttons);
}
/****************************************************************************************/
byte PS2X::Analog(byte button) {
return PS2data[button];
}
/****************************************************************************************/
unsigned char PS2X::_gamepad_shiftinout (char byte) {
unsigned char tmp = 0;
for(unsigned char i=0;i<8;i++) {
if(CHK(byte,i)) CMD_SET();
else CMD_CLR();
CLK_CLR();
delayMicroseconds(CTRL_CLK);
//if(DAT_CHK()) SET(tmp,i);
if(DAT_CHK()) bitSet(tmp,i);
CLK_SET();
#if CTRL_CLK_HIGH
delayMicroseconds(CTRL_CLK_HIGH);
#endif
}
CMD_SET();
delayMicroseconds(CTRL_BYTE_DELAY);
return tmp;
}
/****************************************************************************************/
void PS2X::read_gamepad() {
read_gamepad(false, 0x00);
}
/****************************************************************************************/
boolean PS2X::read_gamepad(boolean motor1, byte motor2) {
double temp = millis() - last_read;
if (temp > 1500) //waited to long
reconfig_gamepad();
if(temp < read_delay) //waited too short
delay(read_delay - temp);
if(motor2 != 0x00)
motor2 = map(motor2,0,255,0x40,0xFF); //noting below 40 will make it spin
char dword[9] = {
0x01,0x42,0,motor1,motor2,0,0,0,0};
byte dword2[12] = {
0,0,0,0,0,0,0,0,0,0,0,0};
// Try a few times to get valid data...
for (byte RetryCnt = 0; RetryCnt < 5; RetryCnt++) {
CMD_SET();
CLK_SET();
ATT_CLR(); // low enable joystick
delayMicroseconds(CTRL_BYTE_DELAY);
//Send the command to send button and joystick data;
for (int i = 0; i<9; i++) {
PS2data[i] = _gamepad_shiftinout(dword[i]);
}
if(PS2data[1] == 0x79) {
//if controller is in full data return mode, get the rest of data
for (int i = 0; i<12; i++) {
PS2data[i+9] = _gamepad_shiftinout(dword2[i]);
}
}
ATT_SET(); // HI disable joystick
// Check to see if we received valid data or not.
// We should be in analog mode for our data to be valid (analog == 0x7_)
if ((PS2data[1] & 0xf0) == 0x70)
break;
// If we got to here, we are not in analog mode, try to recover...
reconfig_gamepad(); // try to get back into Analog mode.
delay(read_delay);
}
// If we get here and still not in analog mode (=0x7_), try increasing the read_delay...
if ((PS2data[1] & 0xf0) != 0x70) {
if (read_delay < 10)
read_delay++; // see if this helps out...
}
#ifdef PS2X_COM_DEBUG
Serial.println("OUT:IN");
for(int i=0; i<9; i++){
Serial.print(dword[i], HEX);
Serial.print(":");
Serial.print(PS2data[i], HEX);
Serial.print(" ");
}
for (int i = 0; i<12; i++) {
Serial.print(dword2[i], HEX);
Serial.print(":");
Serial.print(PS2data[i+9], HEX);
Serial.print(" ");
}
Serial.println("");
#endif
last_buttons = buttons; //store the previous buttons states
#if defined(__AVR__)
buttons = *(uint16_t*)(PS2data+3); //store as one value for multiple functions
#else
buttons = (uint16_t)(PS2data[4] << 8) + PS2data[3]; //store as one value for multiple functions
#endif
last_read = millis();
return ((PS2data[1] & 0xf0) == 0x70); // 1 = OK = analog mode - 0 = NOK
}
/****************************************************************************************/
byte PS2X::config_gamepad(uint8_t clk, uint8_t cmd, uint8_t att, uint8_t dat) {
return config_gamepad(clk, cmd, att, dat, false, false);
}
/****************************************************************************************/
byte PS2X::config_gamepad(uint8_t clk, uint8_t cmd, uint8_t att, uint8_t dat, bool pressures, bool rumble) {
byte temp[sizeof(type_read)];
#ifdef __AVR__
_clk_mask = digitalPinToBitMask(clk);
_clk_oreg = portOutputRegister(digitalPinToPort(clk));
_cmd_mask = digitalPinToBitMask(cmd);
_cmd_oreg = portOutputRegister(digitalPinToPort(cmd));
_att_mask = digitalPinToBitMask(att);
_att_oreg = portOutputRegister(digitalPinToPort(att));
_dat_mask = digitalPinToBitMask(dat);
_dat_ireg = portInputRegister(digitalPinToPort(dat));
#else
uint32_t lport; // Port number for this pin
_clk_mask = digitalPinToBitMask(clk);
lport = digitalPinToPort(clk);
_clk_lport_set = portOutputRegister(lport) + 2;
_clk_lport_clr = portOutputRegister(lport) + 1;
_cmd_mask = digitalPinToBitMask(cmd);
lport = digitalPinToPort(cmd);
_cmd_lport_set = portOutputRegister(lport) + 2;
_cmd_lport_clr = portOutputRegister(lport) + 1;
_att_mask = digitalPinToBitMask(att);
lport = digitalPinToPort(att);
_att_lport_set = portOutputRegister(lport) + 2;
_att_lport_clr = portOutputRegister(lport) + 1;
_dat_mask = digitalPinToBitMask(dat);
_dat_lport = portInputRegister(digitalPinToPort(dat));
#endif
pinMode(clk, OUTPUT); //configure ports
pinMode(att, OUTPUT);
pinMode(cmd, OUTPUT);
pinMode(dat, INPUT);
#if defined(__AVR__)
digitalWrite(dat, HIGH); //enable pull-up
#endif
CMD_SET(); // SET(*_cmd_oreg,_cmd_mask);
CLK_SET();
//new error checking. First, read gamepad a few times to see if it's talking
read_gamepad();
read_gamepad();
//see if it talked - see if mode came back.
//If still anything but 41, 73 or 79, then it's not talking
if(PS2data[1] != 0x41 && PS2data[1] != 0x73 && PS2data[1] != 0x79){
#ifdef PS2X_DEBUG
Serial.println("Controller mode not matched or no controller found");
Serial.print("Expected 0x41, 0x73 or 0x79, but got ");
Serial.println(PS2data[1], HEX);
#endif
return 1; //return error code 1
}
//try setting mode, increasing delays if need be.
read_delay = 1;
for(int y = 0; y <= 10; y++) {
sendCommandString(enter_config, sizeof(enter_config)); //start config run
//read type
delayMicroseconds(CTRL_BYTE_DELAY);
CMD_SET();
CLK_SET();
ATT_CLR(); // low enable joystick
delayMicroseconds(CTRL_BYTE_DELAY);
for (int i = 0; i<9; i++) {
temp[i] = _gamepad_shiftinout(type_read[i]);
}
ATT_SET(); // HI disable joystick
controller_type = temp[3];
sendCommandString(set_mode, sizeof(set_mode));
if(rumble){
sendCommandString(enable_rumble, sizeof(enable_rumble)); en_Rumble = true; }
if(pressures){
sendCommandString(set_bytes_large, sizeof(set_bytes_large)); en_Pressures = true; }
sendCommandString(exit_config, sizeof(exit_config));
read_gamepad();
if(pressures){
if(PS2data[1] == 0x79)
break;
if(PS2data[1] == 0x73)
return 3;
}
if(PS2data[1] == 0x73)
break;
if(y == 10){
#ifdef PS2X_DEBUG
Serial.println("Controller not accepting commands");
Serial.print("mode stil set at");
Serial.println(PS2data[1], HEX);
#endif
return 2; //exit function with error
}
read_delay += 1; //add 1ms to read_delay
}
return 0; //no error if here
}
/****************************************************************************************/
void PS2X::sendCommandString(byte string[], byte len) {
#ifdef PS2X_COM_DEBUG
byte temp[len];
ATT_CLR(); // low enable joystick
delayMicroseconds(CTRL_BYTE_DELAY);
for (int y=0; y < len; y++)
temp[y] = _gamepad_shiftinout(string[y]);
ATT_SET(); //high disable joystick
delay(read_delay); //wait a few
Serial.println("OUT:IN Configure");
for(int i=0; i<len; i++) {
Serial.print(string[i], HEX);
Serial.print(":");
Serial.print(temp[i], HEX);
Serial.print(" ");
}
Serial.println("");
#else
ATT_CLR(); // low enable joystick
for (int y=0; y < len; y++)
_gamepad_shiftinout(string[y]);
ATT_SET(); //high disable joystick
delay(read_delay); //wait a few
#endif
}
/****************************************************************************************/
byte PS2X::readType() {
/* byte temp[sizeof(type_read)]; sendCommandString(enter_config, sizeof(enter_config)); delayMicroseconds(CTRL_BYTE_DELAY); CMD_SET(); CLK_SET(); ATT_CLR(); // low enable joystick delayMicroseconds(CTRL_BYTE_DELAY); for (int i = 0; i<9; i++) { temp[i] = _gamepad_shiftinout(type_read[i]); } sendCommandString(exit_config, sizeof(exit_config)); if(temp[3] == 0x03) return 1; else if(temp[3] == 0x01) return 2; return 0; */
if(controller_type == 0x03)
return 1;
else if(controller_type == 0x01)
return 2;
else if(controller_type == 0x0C)
return 3; //2.4G Wireless Dual Shock PS2 Game Controller
return 0;
}
/****************************************************************************************/
void PS2X::enableRumble() {
sendCommandString(enter_config, sizeof(enter_config));
sendCommandString(enable_rumble, sizeof(enable_rumble));
sendCommandString(exit_config, sizeof(exit_config));
en_Rumble = true;
}
/****************************************************************************************/
bool PS2X::enablePressures() {
sendCommandString(enter_config, sizeof(enter_config));
sendCommandString(set_bytes_large, sizeof(set_bytes_large));
sendCommandString(exit_config, sizeof(exit_config));
read_gamepad();
read_gamepad();
if(PS2data[1] != 0x79)
return false;
en_Pressures = true;
return true;
}
/****************************************************************************************/
void PS2X::reconfig_gamepad(){
sendCommandString(enter_config, sizeof(enter_config));
sendCommandString(set_mode, sizeof(set_mode));
if (en_Rumble)
sendCommandString(enable_rumble, sizeof(enable_rumble));
if (en_Pressures)
sendCommandString(set_bytes_large, sizeof(set_bytes_large));
sendCommandString(exit_config, sizeof(exit_config));
}
/****************************************************************************************/
#ifdef __AVR__
inline void PS2X::CLK_SET(void) {
register uint8_t old_sreg = SREG;
cli();
*_clk_oreg |= _clk_mask;
SREG = old_sreg;
}
inline void PS2X::CLK_CLR(void) {
register uint8_t old_sreg = SREG;
cli();
*_clk_oreg &= ~_clk_mask;
SREG = old_sreg;
}
inline void PS2X::CMD_SET(void) {
register uint8_t old_sreg = SREG;
cli();
*_cmd_oreg |= _cmd_mask; // SET(*_cmd_oreg,_cmd_mask);
SREG = old_sreg;
}
inline void PS2X::CMD_CLR(void) {
register uint8_t old_sreg = SREG;
cli();
*_cmd_oreg &= ~_cmd_mask; // SET(*_cmd_oreg,_cmd_mask);
SREG = old_sreg;
}
inline void PS2X::ATT_SET(void) {
register uint8_t old_sreg = SREG;
cli();
*_att_oreg |= _att_mask ;
SREG = old_sreg;
}
inline void PS2X::ATT_CLR(void) {
register uint8_t old_sreg = SREG;
cli();
*_att_oreg &= ~_att_mask;
SREG = old_sreg;
}
inline bool PS2X::DAT_CHK(void) {
return (*_dat_ireg & _dat_mask) ? true : false;
}
#else
// On pic32, use the set/clr registers to make them atomic...
inline void PS2X::CLK_SET(void) {
*_clk_lport_set |= _clk_mask;
}
inline void PS2X::CLK_CLR(void) {
*_clk_lport_clr |= _clk_mask;
}
inline void PS2X::CMD_SET(void) {
*_cmd_lport_set |= _cmd_mask;
}
inline void PS2X::CMD_CLR(void) {
*_cmd_lport_clr |= _cmd_mask;
}
inline void PS2X::ATT_SET(void) {
*_att_lport_set |= _att_mask;
}
inline void PS2X::ATT_CLR(void) {
*_att_lport_clr |= _att_mask;
}
inline bool PS2X::DAT_CHK(void) {
return (*_dat_lport & _dat_mask) ? true : false;
}
#endif
arduino文件
#include "PS2X_lib.h" //for v1.6
#include <Wire.h>
#include <Servo.h>
/****************************************************************** * set pins connected to PS2 controller: * - 1e column: original * - 2e colmun: Stef? * replace pin numbers by the ones you use ******************************************************************/
#define PS2_DAT 6
#define PS2_CMD 5
#define PS2_SEL 4
#define PS2_CLK 3
/****************************************************************** * select modes of PS2 controller: * - pressures = analog reading of push-butttons * - rumble = motor rumbling * uncomment 1 of the lines for each mode selection ******************************************************************/
#define pressures true
#define rumble true
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 connect the controller,
//or call config_gamepad(pins) again after connecting the controller.
int error = 0;
byte type = 0;
byte vibrate = 0;
int lx = 0;
int ly= 0;
int L_Speed = 0;
int R_Speed = 0;
Servo myservo1,myservo2,myservo3,myservo4; // create servo object to control a servo
const int SERVOS = 4; //舵机数4个
const int ACC = 10; // the accurancy of the potentiometer value before idle starts counting
int value[SERVOS], idle[SERVOS], currentAngle[SERVOS], MIN[SERVOS], MAX[SERVOS], INITANGLE[SERVOS], previousAngle[SERVOS],ANA[SERVOS];
int Left_motor=8; //左电机(IN3) 输出0 前进 输出1 后退
int Left_motor_pwm=9; //左电机PWM调速
int Right_motor_pwm=10; // 右电机PWM调速
int Right_motor=11; // 右电机后退(IN1) 输出0 前进 输出1 后退
void setup(){
Serial.begin(57600);
myservo1.attach(2); //手爪电机
myservo2.attach(7); //上臂电机
myservo3.attach(12); //下臂电机
myservo4.attach(13); //底座电机
//-----电机IO口定-
pinMode( 8, OUTPUT);
pinMode( 9, OUTPUT);
pinMode( 10, OUTPUT);
pinMode( 11, OUTPUT);
stop();
//手爪 Servo
MIN[0] = 10;
MAX[0] = 50;
INITANGLE[0] = 30;
//上臂电机
MIN[1] = 10; // This should bring the lever to just below 90deg to ground
MAX[1] = 140;
INITANGLE[1] = 90; // This should bring the lever parallel with the ground
//下臂电机
MIN[2] = 40;
MAX[2] = 170;
INITANGLE[2] = 90;
//底座电机
MIN[3] = 0;
MAX[3] = 170;
INITANGLE[3] = 90;
//初始化电机
myservo1.write(INITANGLE[0]);
myservo2.write(INITANGLE[1]);
myservo3.write(INITANGLE[2]);
myservo4.write(INITANGLE[3]);
currentAngle[0]=INITANGLE[0];
currentAngle[1]=INITANGLE[1];
currentAngle[2]=INITANGLE[2];
currentAngle[3]=INITANGLE[3];
delay(2000); //added delay to give wireless ps2 module some time to startup, before configuring it
Serial.print("Search Controller..");
//CHANGES for v1.6 HERE!!! **************PAY ATTENTION*************
do{
//setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error
error = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);
if(error == 0){
Serial.println("\nConfigured successful ");
break;
}else{
Serial.print(".");
delay(100);
}
}while(1);
type = ps2x.readType();
switch(type) {
case 0:
Serial.println("Unknown Controller type found ");
break;
case 1:
Serial.println("DualShock Controller found ");
break;
case 2:
Serial.println("GuitarHero Controller found ");
break;
case 3:
Serial.println("Wireless Sony DualShock Controller found ");
break;
}
//震动一，说明连接
ps2x.read_gamepad(true, 200); //开启震动
delay(500);
ps2x.read_gamepad(false, 200); //开启震动
delay(300);
ps2x.read_gamepad(true, 200); //开启震动
delay(500);
}
void loop() {
/* You must Read Gamepad to get new values and set vibration values ps2x.read_gamepad(small motor on/off, larger motor strenght from 0-255) if you don't enable the rumble, use ps2x.read_gamepad(); with no values You should call this at least once a second */
ps2x.read_gamepad(false, vibrate); //开启震动
if(ps2x.Button(PSB_START)){
//开始按键
Serial.println("Start is being held");
ps2x.read_gamepad(true, 200);
}
if(ps2x.Button(PSB_SELECT))
Serial.println("Select is being held");
if(ps2x.Button(PSB_PAD_UP)) //方向按键向上按下
{
Serial.print("Up held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_UP), DEC);
forward();
}else if(ps2x.ButtonReleased(PSB_PAD_UP)) {
//方向按键向上释放
stop();
}
if(ps2x.Button(PSB_PAD_DOWN)) //方向按键向下按下
{
Serial.print("DOWN held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);
back();
}
else if(ps2x.ButtonReleased(PSB_PAD_DOWN))//方向按键向下释放
{
stop();
}
if(ps2x.Button(PSB_R1)){
//侧面开关右R1
R_Speed = 0;
}
if(ps2x.Button(PSB_L1)){
//侧面开关左L1
L_Speed = 0;
}
if(ps2x.Button(PSB_PAD_LEFT)) //方向按键左侧按下
{
left();
}else if(ps2x.ButtonReleased(PSB_PAD_LEFT)) //方向按键左侧释放
{
stop();
}
if(ps2x.Button(PSB_PAD_RIGHT)) //方向按键右侧按下
{
Serial.println(ps2x.Analog(PSB_PAD_RIGHT));
right();
}
else if(ps2x.ButtonReleased(PSB_PAD_RIGHT)) //方向按键右侧释放
{
// Serial.println("*****PSB_PAD_RIGHT***** ");
stop();
}
vibrate = ps2x.Analog(PSAB_CROSS);
//this will set the large motor vibrate speed based on how hard you press the blue (X) button
{
}
if (ps2x.NewButtonState()) {
//will be TRUE if any button changes state (on to off, or off to on)
if(ps2x.Button(PSB_L3)) //左侧L3
Serial.println("L3 pressed");
if(ps2x.Button(PSB_R3)) //右侧L3
Serial.println("R3 pressed");
if(ps2x.Button(PSB_L2)) //左侧L2
Serial.println("L2 pressed");
if(ps2x.Button(PSB_R2)) //右侧R2
Serial.println("R2 pressed");
if(ps2x.Button(PSB_TRIANGLE))
Serial.println("Triangle pressed"); //三角形按键按下
}
if(ps2x.ButtonPressed(PSB_CIRCLE))
{
//will be TRUE if button was JUST pressed
Serial.println("Circle just pressed");
openGripper();
}
if(ps2x.NewButtonState(PSB_CROSS)) {
// ×键新键改变
Serial.println("X just changed");
ps2x.read_gamepad(true, vibrate); //获取震动值
}
if(ps2x.ButtonPressed(PSB_SQUARE))
{
//will be TRUE if button was JUST released
Serial.println("Square just released");
closeGripper() ;
}
if(ps2x.Button(PSB_L1) || ps2x.Button(PSB_R1)) {
//print stick values if either is TRUE
Serial.print("Stick Values:");
Serial.print(ps2x.Analog(PSS_LY), DEC); //Left stick, Y axis. Other options: LX, RY, RX
Serial.print(",");
Serial.print(ps2x.Analog(PSS_LX), DEC);
Serial.print(",");
Serial.print(ps2x.Analog(PSS_RY), DEC);
Serial.print(",");
Serial.println(ps2x.Analog(PSS_RX), DEC);
}
value[0] = ps2x.Analog(PSS_LX);
value[1] = ps2x.Analog(PSS_RY);
value[2] = ps2x.Analog(PSS_LY);
value[3] = ps2x.Analog(PSS_RX);
for (int i = 0; i < SERVOS; i++)
{
if (value[i] > 130)
{
if (currentAngle[i] < MAX[i])
currentAngle[i]+=1;
// Serial.print("value");
// Serial.print(i);
// Serial.print(":");
// Serial.println(value[i]);
switch(i)
{
case 0: myservo1.write(currentAngle[i]);break;
case 1: myservo2.write(currentAngle[i]);break;
case 2: myservo3.write(currentAngle[i]);break;
case 3: myservo4.write(currentAngle[i]);break;
}
}
else if (value[i] < 120)
{
if (currentAngle[i] > MIN[i]) currentAngle[i]-=1;
// Serial.print("value");
// Serial.print(i);
// Serial.print(":");
// Serial.println(value[i]);
switch(i)
{
case 0: myservo1.write(currentAngle[i]);break;
case 1: myservo2.write(currentAngle[i]);break;
case 2: myservo3.write(currentAngle[i]);break;
case 3: myservo4.write(currentAngle[i]);break;
}
}
}
delay(10);
}
//Grab something
void openGripper() {
myservo1.write(MIN[0]);
delay(300);
}
//Let go of something
void closeGripper() {
myservo1.write(MAX[0]);
delay(300);
}
void forward()
{
digitalWrite(8, LOW);
digitalWrite(9, HIGH);
digitalWrite(11, LOW);
digitalWrite(10, HIGH);
}
void right()
{
digitalWrite(8, LOW);
digitalWrite(9, HIGH);
digitalWrite(11, LOW);
digitalWrite(10, LOW);
}
void back()
{
digitalWrite(8, HIGH);
digitalWrite(9, HIGH);
digitalWrite(11, HIGH);
digitalWrite(10, HIGH);
}
void left()
{
digitalWrite(8, LOW);
digitalWrite(9, LOW);
digitalWrite(11, LOW);
digitalWrite(10, HIGH);
}
void stop()
{
digitalWrite(8, LOW);
digitalWrite(9, LOW);
digitalWrite(11, LOW);
digitalWrite(10, LOW);
}
今天的文章智宇科技 ZYARJX-1机械臂智能小车 —— PS2游戏手柄控制程序分享到此就结束了，感谢您的阅读。
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