首先感谢参考链接：
感谢参考链接：https://www.cnblogs.com/hxxhdaily/p/12592043.html
前篇链接-arduino连接ps2手柄控制智能小车实践记录
本篇主要任务：
接电机
根据控制调整电机旋转方向
解决初始化时手柄检测问题（每次启动未必能找到手柄）
任务一：接电机
电机控制芯片：L298N（淘宝购）
电机供电：9V电池（淘宝购电池盒）
L298N-电池接线
| 电池电极 | L298N插口 |
| 正极 | 12V |
| 负极 | GND |
L298N-arduino接线
| L298N | arduino插口 |
| 12V | Vin |
| GND | GND |
| IN1 | 4 |
| IN2 | 5 |
| IN3 | 7 |
| IN4 | 6 |
L298N-电机 接线
| L298N | 电机 |
| OUT1 | 左侧两个电机正极 |
| OUT2 | 左侧两个电机负极 |
| OUT3 | 右侧两个电机正极 |
| OUT4 | 右侧两个电机负极 |
电机焊接电线定义如下：
注：电机正负不知道怎么测，所以正负极先统一这么接。根据控制调整接入L298N的OUT口就可以改变电机转动方向。
接线完成图：
注：PS2无线手柄接收器重新买了一个带插针的，之前的那个不稳定
任务二+任务三（同时做）
附上代码：
#include
PS2X ps2x;
//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 count = 10;
// 电机控制引脚；
#define IN1 4
#define IN2 5
#define IN3 6
#define IN4 7
void setup(){
//初始化针脚
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
Serial.begin(57600);
while(count > 0){
count--;
error = ps2x.config_gamepad(13,11,10,12, true, true); //GamePad(clock, command, attention, data, Pressures?, Rumble?)
if(error == 0){
Serial.println("Found Controller, configured successful");
Serial.println("Try out all the buttons, X will vibrate the controller, faster as you press harder;");
Serial.println("holding L1 or R1 will print out the analog stick values.");
Serial.println("Go to www.billporter.info for updates and to report bugs.");
break;
}
else if(error == 1)
Serial.println("No controller found, check wiring, see readme.txt to enable debug. visit www.billporter.info for troubleshooting tips");
else if(error == 2)
Serial.println("Controller found but not accepting commands. see readme.txt to enable debug. Visit www.billporter.info for troubleshooting tips");
else if(error == 3)
Serial.println("Controller refusing to enter Pressures mode, may not support it. ");
delay(100);
}
type = ps2x.readType();
switch(type) {
case 0:
Serial.println("Unknown Controller type");
break;
case 1:
Serial.println("DualShock Controller Found");
break;
case 2:
Serial.println("GuitarHero Controller Found");
break;
}
}
void loop(){
/* You must Read Gamepad to get new values
Read GamePad 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
*/
if(error == 1)
return;
if(type == 2){
ps2x.read_gamepad(); //read controller
if(ps2x.ButtonPressed(GREEN_FRET))
Serial.println("Green Fret Pressed");
if(ps2x.ButtonPressed(RED_FRET))
Serial.println("Red Fret Pressed");
if(ps2x.ButtonPressed(YELLOW_FRET))
Serial.println("Yellow Fret Pressed");
if(ps2x.ButtonPressed(BLUE_FRET))
Serial.println("Blue Fret Pressed");
if(ps2x.ButtonPressed(ORANGE_FRET))
Serial.println("Orange Fret Pressed");
if(ps2x.ButtonPressed(STAR_POWER))
Serial.println("Star Power Command");
if(ps2x.Button(UP_STRUM)) //will be TRUE as long as button is pressed
Serial.println("Up Strum");
if(ps2x.Button(DOWN_STRUM))
Serial.println("DOWN Strum");
if(ps2x.Button(PSB_START)) //will be TRUE as long as button is pressed
Serial.println("Start is being held");
if(ps2x.Button(PSB_SELECT))
Serial.println("Select is being held");
if(ps2x.Button(ORANGE_FRET)) // print stick value IF TRUE
{
Serial.print("Wammy Bar Position:");
Serial.println(ps2x.Analog(WHAMMY_BAR), DEC);
}
}
else { //DualShock Controller
ps2x.read_gamepad(false, vibrate); //read controller and set large motor to spin at 'vibrate' speed
if(ps2x.Button(PSB_START)) //will be TRUE as long as button is pressed
Serial.println("Start is being held");
if(ps2x.Button(PSB_SELECT))
Serial.println("Select is being held");
if (ps2x.Button(PSB_START)){ //will be TRUE as long as button is pressed
Serial.println("Start is being held");
}
else if (ps2x.Button(PSB_SELECT)){
Serial.println("Select is being held");
}
else if(ps2x.Button(PSB_PAD_UP)) { //will be TRUE as long as button is pressed
Serial.print("Up held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_UP), DEC);
//电机控制
Serial.print("---------前进 ");
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}
else if(ps2x.Button(PSB_PAD_RIGHT)){
Serial.print("Right held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_RIGHT), DEC);
Serial.print("---------右转 ");
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}
else if(ps2x.Button(PSB_PAD_LEFT)){
Serial.print("LEFT held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_LEFT), DEC);
Serial.print("---------左转 ");
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}
else if(ps2x.Button(PSB_PAD_DOWN)){
Serial.print("DOWN held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);
Serial.print("---------后退 ");
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}
else if(ps2x.Button(PSB_SELECT)){ // SELECT
digitalWrite(IN1, LOW); //停
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
}else{ // 没有任何操作，停止电机转动
digitalWrite(IN1, LOW); //停
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
}
vibrate = ps2x.Analog(PSAB_BLUE); //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))
Serial.println("L3 pressed");
if(ps2x.Button(PSB_R3))
Serial.println("R3 pressed");
if(ps2x.Button(PSB_L2))
Serial.println("L2 pressed");
if(ps2x.Button(PSB_R2))
Serial.println("R2 pressed");
if(ps2x.Button(PSB_GREEN))
Serial.println("Triangle pressed");
}
if(ps2x.ButtonPressed(PSB_RED)) //will be TRUE if button was JUST pressed
Serial.println("Circle just pressed");
if(ps2x.ButtonReleased(PSB_PINK)) //will be TRUE if button was JUST released
Serial.println("Square just released");
if(ps2x.NewButtonState(PSB_BLUE)) //will be TRUE if button was JUST pressed OR released
Serial.println("X just changed");
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);
}
}
delay(50);
} 因为不是每次启动初始化手柄的时候都能检测到手柄，所以加了一个计数器count，设置了10次，尝试10次，找不到就手动重启！****手动重启！****手动重启！。作者尝试了几次都没问题。count值可以自己修改。找到手柄程序会跳出查找手柄的操作，继续执行后面的代码。
注调整电机控制：按本文中的接线方式应该不需要调整。如果是乱接线的话，则需要观察轮子的转动方向调整电机与L298N的接线。一个电机一个电机调整。换一下正负极接法就OK。
| 方向 | 电机旋转 |
| 前进 | 四个轮子全部正转 |
| 后退 | 四个轮子全部反转 |
| 左转 | 左侧轮子倒转，右侧轮子正转 |
| 右转 | 左侧轮子正转，右侧轮子倒转 |
完成！附上视频
遥控小车视频
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