arduino ps2遥控小车基于无线模块 -

#include <PS2X_lib.h> //for v1.6
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.
//不支持热插拔，连线后需要重新启动Arduino板
int PS_LX;//PS2手柄左摇杆X轴数据
int PS_LY;//PS2手柄左摇杆Y轴数据
int PS_RX;//PS2手柄右摇杆X轴数据
int PS_RY;//PS2手柄右摇杆Y轴数据
int error = 0; //连接正确与否的判断标志
byte type = 0; //ps2x.readType()转换判别标志
byte vibrate = 0;
int banduan=0;
void setup(){
Serial.begin(57600);
//CHANGES for v1.6 HERE!!! **************PAY ATTENTION*************
error = ps2x.config_gamepad(13,11,10,12, true, true); //setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error
//检查引脚是否有连接错误
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 [url]www*billporter*info[/url] for updates and to report bugs.");
} //0号错误的串口提示信息
else if(error == 1)
Serial.println("No controller found, check wiring, see readme.txt to enable debug. visit [url]www*billporter*info[/url] for troubleshooting tips");
//1号错误的串口提示信息
else if(error == 2)
Serial.println("Controller found but not accepting commands. see readme.txt to enable debug. Visit [url]www*billporter*info[/url] for troubleshooting tips");
//2号错误的串口提示信息
else if(error == 3)
Serial.println("Controller refusing to enter Pressures mode, may not support it. ");
//3号错误的串口提示信息
//Serial.print(ps2x.Analog(1), HEX);
type = ps2x.readType(); //正确连接后串口提示的信息
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
*/
//用Read Gamepad函数读取按键值
if(error == 1) //skip loop if no controller found
return;
/******************************************************
Guitar Hero Controller不是手柄选用的控制器
//Guitar Hero Controller
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手柄选用的控制器
ps2x.read_gamepad(false, vibrate); //read controller and set large motor to spin at 'vibrate' speed
if(ps2x.Button(PSB_START)) //start选中 //will be TRUE as long as button is pressed
Serial.println("Start is being held");
if(ps2x.Button(PSB_SELECT)) //select选中
Serial.println("Select is being held");
PS_LX=ps2x.Analog(PSS_LX); //把PS2手柄左摇杆X轴数据读到变量PS_LX
PS_RX=ps2x.Analog(PSS_RX); //把PS2手柄右摇杆X轴数据读到变量PS_RX
PS_LY=ps2x.Analog(PSS_LY); //把PS2手柄左摇杆Y轴数据读到变量PS_LY
PS_RY=ps2x.Analog(PSS_RY); //把PS2手柄右摇杆Y轴数据读到变量PS_RY
if(PS_RX<5) //从左到右0~255，从上到下0~255
{ banduan=1;
Serial.print("l");
}
if(PS_RX>250)
{ banduan=1;
Serial.print("m");
}
if(PS_RY<5)
{ banduan=1;
Serial.print("j");
}
if(PS_RY>250)
{ banduan=1;
Serial.print("k");
}
if(PS_LY<5||ps2x.Button(PSB_PAD_UP)) //上 //will be TRUE as long as button is pressed
{ banduan=1;
Serial.print("a");
}
if(PS_LY>250||ps2x.Button(PSB_PAD_DOWN))//下
{ banduan=1;
Serial.print("b");
}
if(PS_LX<5||ps2x.Button(PSB_PAD_LEFT))//左
{ banduan=1;
Serial.print("c");
}
if(PS_LX>250||ps2x.Button(PSB_PAD_RIGHT))//右
{ banduan=1;
Serial.print("d");
}
if(ps2x.Button(PSB_RED)) //红圆圈
{ banduan=1;
Serial.print("e");
}
if(ps2x.Button(PSB_PINK)) //粉方形
{ banduan=1;
Serial.print("f");
}
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(PSB_BLUE)) //蓝叉叉
Serial.print("XX");
if (ps2x.Button(PSB_GREEN)) //绿三角 //will be TRUE if any button changes state (on to off, or off to on)
{ banduan=1;
Serial.print("g");
}
if(ps2x.Button(PSB_L1) || ps2x.Button(PSB_R1)) //左1右1// print stick values if either is TRUE
{ banduan=1;
Serial.print("h");
}
if(ps2x.Button(PSB_L2) || ps2x.Button(PSB_R2)) //左2右2// print stick values if either is TRUE
{ banduan=1;
Serial.print("i");
}
if( banduan==0)
Serial.print("n");
else
banduan=0;
}
delay(50);
}

复制代码

手柄按键	发送字符	接收十六进制代码	小车动作
按键上或左摇杆上	“a”	0x61	前进
按键下或左摇杆下	“b”	0x62	后退
按键左或左摇杆左	“c”	0x63	左转
按键右或左摇杆右	“d”	0x64	右转

红圆圈	“e”	0x65	左原地转圈
粉方块	“f”	0x66	右原地转圈
绿三角	“g”	0x67	划弧度

左1或右1	“h”	0x68	左平移
左2或右2	“i”	0x69	右平移

右摇杆上	“g”	0x6a	45度左前
右摇杆下	“k”	0x6b	45度右后
右摇杆左	“l”	0x6c	45度右前
右摇杆右	“m”	0x6d	45度左后

标志位	“n”	0x6e	停止