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PS2手柄及机器人手臂连接资料
- /******************************************************************
- * Arduino四自由度机器人手臂遥控程序源代码-薛成编译通过
- * 请将库文件解压后以文件夹格式拖至Arduino文件夹下的Libraries文件夹里
- ******************************************************************/
- #define PS2_DAT 10
- #define PS2_CMD 11
- #define PS2_CS 12
- #define PS2_CLK 13
- #include "PS2X_lib.h"
- #include <Servo.h>
- Servo servo_A0;
- Servo servo_A1;
- Servo servo_A2;
- Servo servo_A3;
- PS2X ps2x;
- void setup(){
- ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_CS, PS2_DAT, true, true);
- servo_A0.attach(A0);
- servo_A1.attach(A1);
- servo_A2.attach(A2);
- servo_A3.attach(A3);
- Serial.begin(9600);
- servo_A0.write(90);
- delay(10);
- servo_A1.write(90);
- delay(10);
- servo_A2.write(90);
- delay(10);
- servo_A3.write(90);
- delay(10);
- }
- void loop(){
- ps2x.read_gamepad(false,0);
- if (ps2x.Analog(PSS_LX) > 130) {
- servo_A0.write((servo_A0.read() + 1));
- delay(10);
- }
- if (ps2x.Analog(PSS_LX) < 120) {
- servo_A0.write((servo_A0.read() - 1));
- delay(10);
- }
- if (ps2x.Analog(PSS_LY) > 130) {
- servo_A1.write((servo_A1.read() + 1));
- delay(10);
- }
- if (ps2x.Analog(PSS_LY) < 120) {
- servo_A1.write((servo_A1.read() - 1));
- delay(10);
- }
- if (ps2x.Analog(PSS_RX) > 130) {
- servo_A2.write((servo_A2.read() + 1));
- delay(10);
- }
- if (ps2x.Analog(PSS_RX) < 120) {
- servo_A2.write((servo_A2.read() - 1));
- delay(10);
- }
- if (ps2x.Analog(PSS_RY) > 130) {
- servo_A3.write((servo_A3.read() + 1));
- delay(10);
- }
- if (ps2x.Analog(PSS_RY) < 120) {
- servo_A3.write((servo_A3.read() - 1));
- delay(10);
- }
- }
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