arduino控制PS2 2路红外自动循迹3路红外光电避障小车源码与资料 -

//材料：UNO开发板*1+2路电机&16路舵机驱动板*1+PS2游戏手柄套件*1+红外循迹模块*2+光电红外避障传感器*3+蜂鸣器*1
//功能：手柄控制+2路红外循迹+3路光电红外避障
//IIC与A4、A5复用了，所以不能用到!!!
//避障参数 1--无障碍 0--障碍
#include <PS2X_lib.h> //for v1.6
/****************************IO引脚定义*****************************/
//电机引脚
#define PWMA 9 //左电机转速
#define DIRA 8 //左电机转向
#define PWMB 6 //右电机转速
#define DIRB 7 //右电机转向
//蜂鸣器引脚
#define BEEP_PIN 3
//车头两LED灯
#define TLED_PIN 2
//左右红外循迹
#define TRAKLEF A0 //红外循迹左
#define TRAKRIT A1 //红外循迹右
//3路光电红外避障
#define IRavoiFL A2 //红外避障_前左
#define IRavoiFM A3 //红外避障_前中
#define IRavoiFR A4 //红外避障_前右
/*******************************************************************/
//设置引脚连接到PS2控制器：
#define PS2_DAT 13
#define PS2_CMD 11
#define PS2_SEL 10
#define PS2_CLK 12
/******************************************************************
*选择PS2控制器的模式：
* - 压力=推杆的模拟读数
* - 震动？
*取消注释每个模式选择的行1
******************************************************************/
#define pressures true
// #define pressures false
#define rumble true
// #define rumble false
PS2X ps2x; //创建PS2控制器类
//现在，库不支持热插拔控制器，即连接控制器后，你必须重启Arduino
//蜂鸣器响/熄
#define BEEP_ON digitalWrite(BEEP_PIN, LOW)//蜂鸣器响
#define BEEP_OFF digitalWrite(BEEP_PIN, HIGH)//蜂鸣器熄
//车头两LED灯
#define TLED_ON digitalWrite(TLED_PIN, LOW);//亮灯
#define TLED_OFF digitalWrite(TLED_PIN, HIGH);//灭灯
//定义小车速度
uint8_t speedd=255;//小车正常速度
uint8_t speeddAG=250;//小车循迹速度
//小车控制标志量
enum DS
{
MANUAL_DRIVE,//手动控制
AutoTracking, //循迹模式
AutoObstruct, //避障模式
}Drive_Status=MANUAL_DRIVE;
//电机控制标志量
enum DN
{
GO_ADVANCE,
GO_LEFT,
GO_RIGHT,
GO_BACK,
STOP_STOP,
DEF
}Drive_Num=DEF;
//电机控制相关
bool flag1=false;
bool stopFlag = true;
bool JogFlag = false;
uint16_t JogTimeCnt = 0;
uint32_t JogTime=0;
//PS2手柄
int error = 0;
byte type = 0;
byte vibrate = 0;
/**********************************************************************************************/
/******************************功能函数**********************************/
//电机控制
void Car_GO_FORWARD(uint8_t spel, uint8_t sper, int tim=0)//小车前进
{
uint8_t speeddl=spel;
uint8_t speeddr=sper;
digitalWrite(DIRA,HIGH);
analogWrite(PWMA,speeddl);
digitalWrite(DIRB,HIGH);
analogWrite(PWMB,speeddr);
delay(tim);
}
void Car_GO_LEFT(uint8_t spel,uint8_t sper, int tim=0)//车体左转
{
uint8_t speeddl=spel;
uint8_t speeddr=sper;
digitalWrite(DIRA,LOW);
analogWrite(PWMA,speeddl);
digitalWrite(DIRB,HIGH);
analogWrite(PWMB,speeddr);
delay(tim);
}
void Car_GO_RIGHT(uint8_t spel,uint8_t sper, int tim=0)//车体右转
{
uint8_t speeddl=spel;
uint8_t speeddr=sper;
digitalWrite(DIRA,HIGH);
analogWrite(PWMA,speeddl);
digitalWrite(DIRB,LOW);
analogWrite(PWMB,speeddr);
delay(tim);
}
void Car_GO_STOP(uint8_t spel,uint8_t sper, int tim=0)//车体停止
{
uint8_t speeddl=spel;
uint8_t speeddr=sper;
digitalWrite(DIRA,LOW);
analogWrite(PWMA,speeddl);
digitalWrite(DIRB,LOW);
analogWrite(PWMB,speeddr);
delay(tim);
}
void Car_GO_BACK(uint8_t spel,uint8_t sper, int tim=0)//车体后退
{
uint8_t speeddl=spel;
uint8_t speeddr=sper;
digitalWrite(DIRA,LOW);
analogWrite(PWMA,speeddl);
digitalWrite(DIRB,LOW);
analogWrite(PWMB,speeddr);
delay(tim);
}
//读2路循迹传感器值
uint8_t readIRM_ab()
{
uint8_t temp1=0, tem=0;
uint8_t IRt_L = analogRead(TRAKLEF)>500?1:0; //循迹左
uint8_t IRt_R = analogRead(TRAKRIT)>500?1:0; //循迹右
temp1 |= IRt_L;
tem = (temp1<<1)|IRt_R; //循迹状态值
return 0x03&tem;
// Serial.println(String("temp=")+temp);
}
uint8_t readIRM_av()
{
uint8_t IRa_FL = analogRead(IRavoiFL)>500?1:0; //避障前左
uint8_t IRa_FM = analogRead(IRavoiFM)>500?1:0;//避障前中左
uint8_t IRa_FR = analogRead(IRavoiFR)>500?1:0; //避障前右
uint8_t temp1=0, tem=0;
temp1 |= IRa_FL;
temp1 = (temp1 <<1)|IRa_FM;
tem = (temp1 <<1)|IRa_FR;//避障状态值
return 0x07&tem;
}
//循迹模式
void TrakCar()//2路循迹函数
{
uint8_t temabir=readIRM_ab();
switch(temabir)
{
case 0://左白右白
Car_GO_BACK(speeddAG,speeddAG);// 后退
break;
case 1://左白右黑
Car_GO_RIGHT(speeddAG,speeddAG);// 右拐
break;
case 2://左黑右白
Car_GO_LEFT(speeddAG,speeddAG);// 左拐
break;
case 3://左黑右黑
Car_GO_FORWARD(speeddAG,speeddAG);// 前进
break;
default://皆不是
Car_GO_STOP(0,0);//静止
}
}
void ObstruCar()//3路避障函数
{
uint8_t temavoi = readIRM_av();
if((temavoi&0x02)==0)//中有障碍
{
if((temavoi&0x04)==0)//左有障碍
{
if((temavoi&0x01)==0)//右有障碍
{
Car_GO_STOP(0,0);
//左中右都有障碍后退，检测3次左右还是有障碍的话就停在原地不动
uint8_t cnt =0;
for(cnt=0; cnt<3; cnt++)
{
BEEP_ON;
Car_GO_BACK(speedd,speedd, 300);
temavoi = readIRM_av();
if((temavoi&0x05)!=0)
break;
}
if(cnt<3)
{
if((temavoi&0x04)==0x04)
{
BEEP_OFF;
Car_GO_LEFT(speedd,speedd);
JogFlag = true;JogTimeCnt = 1;JogTime=millis();
}
else if((temavoi&0x01)==0x01)
{
BEEP_OFF;
Car_GO_RIGHT(speedd,speedd);
JogFlag = true;JogTimeCnt = 1;JogTime=millis();
}
}
else
{
Drive_Status=MANUAL_DRIVE;
Drive_Num=STOP_STOP;
}
}
else//右无障碍
{
//左中有障碍-----双轮向右
BEEP_OFF;
Car_GO_RIGHT(speedd,speedd);//MOTOR_GO_RIGHT2;
JogFlag = true;JogTimeCnt = 1;JogTime=millis();
}
}
else//左无障碍
{
if((temavoi&0x01)==0)//右有障碍
{
// 中右有障碍-----双轮向左
BEEP_OFF;
Car_GO_LEFT(speedd,speedd);//MOTOR_GO_LEFT2;
JogFlag = true;JogTimeCnt = 1;JogTime=millis();
}
else//右无障碍
{
// 中有障碍------后退
BEEP_ON;
Car_GO_BACK(speedd,speedd, 300);//MOTOR_GO_BACK;
Car_GO_LEFT(speedd,speedd);
JogFlag = true;JogTimeCnt = 1;JogTime=millis();
BEEP_OFF;
}
}
}
else//中无障碍
{
if((temavoi&0x04)==0)//左有障碍
{
if((temavoi&0x01)==0)//右有障碍
{
//左右有障碍-------后退
uint8_t cne =0;
for(cne=0; cne<3; cne++)
{
BEEP_ON;
Car_GO_BACK(speedd,speedd, 300);
temavoi = readIRM_av();
if((temavoi&0x05)!=0)
break;
}
if(cne<3)
{
if((temavoi&0x04)==0x04)
{
BEEP_OFF;
Car_GO_LEFT(speedd,speedd);
JogFlag = true;JogTimeCnt = 1;JogTime=millis();
}
else if((temavoi&0x01)==0x01)
{
BEEP_OFF;
Car_GO_RIGHT(speedd,speedd);
JogFlag = true;JogTimeCnt = 1;JogTime=millis();
}
}
else
{
Drive_Status=MANUAL_DRIVE;
Drive_Num=STOP_STOP;
}
}
else//右无障碍
{
//左有障碍-------双轮向右
BEEP_ON;
Car_GO_RIGHT(speedd,speedd);//MOTOR_GO_RIGHT2;
JogFlag = true;JogTimeCnt = 1;JogTime=millis();
}
}
else//左无障碍
{
if((temavoi&0x01)==0)//右有障碍
{
// 右有障碍--------双轮向左
BEEP_ON;
Car_GO_LEFT(speedd,speedd);//MOTOR_GO_LEFT2;
JogFlag = true;JogTimeCnt = 1;JogTime=millis();
}
else//右无障碍
{
// 无障碍-------前进
BEEP_OFF;
Car_GO_FORWARD(speedd,speedd);//MOTOR_GO_FORWARD;
JogFlag = true;JogTimeCnt = 1;JogTime=millis();
}
}
}
if(millis()-JogTime>=700)
{
JogTime=millis();
if(JogFlag == true)
{
stopFlag = false;
if(JogTimeCnt <= 0)
{
JogFlag = false; stopFlag = true;
}
JogTimeCnt--;
}
if(stopFlag == true)
{
JogTimeCnt=0;
Car_GO_STOP(0,0);
}
}
}
//小车电机控制
void CAR_Control()
{
if(Drive_Status == MANUAL_DRIVE)
{
switch (Drive_Num)
{
case GO_ADVANCE:Car_GO_FORWARD(speedd,speedd);JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;
case GO_LEFT: Car_GO_LEFT(speedd,speedd);JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;
case GO_RIGHT:Car_GO_RIGHT(speedd,speedd);JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;
case GO_BACK:Car_GO_BACK(speedd,speedd);JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;
case STOP_STOP:Car_GO_STOP(0,0);JogTime = 0;JogFlag=false;stopFlag=true;break;
default:break;
}
Drive_Num=DEF;
//小车保持姿态210ms
if(millis()-JogTime>=210)
{
JogTime=millis();
if(JogFlag == true)
{
stopFlag = false;
if(JogTimeCnt <= 0)
{
JogFlag = false; stopFlag = true;
}
JogTimeCnt--;
}
if(stopFlag == true)
{
JogTimeCnt=0;
Car_GO_STOP(0,0);
}
}
}
else if(Drive_Status==AutoObstruct)
{
ObstruCar();//避障
}
}
////////////////////////////////////////////////////////////////////////////////////
// 重置功能
void (* resetFunc) (void) = 0;
void check_PS2()
{
error = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);
if(error == 0)
{
Serial.print(F("Found Controller, configured successful "));//Found Controller，配置成功
}
else if(error == 1)//没有控制器，检查接线，使调试方法见。访问故障提示www.billporter.info
Serial.println(F("No controller found!"));
else if(error == 2)//发现控制器但不接受命令。方法见启用调试。访问故障提示www.billporter.info
Serial.println(F("Controller found but not accepting commands. "));
else if(error == 3)//控制器拒绝进入压力模式，可能不支持。
Serial.println(F("Controller not support Pressures mode."));
type = ps2x.readType();
switch(type)
{
case 0:
Serial.println(F("Unknown Controller type found "));//发现未知控制器类型
break;
case 1:
Serial.println(F("DualShock Controller found "));//发现DualShock控制器////////////////////////////
break;
case 2:
Serial.println(F("GuitarHero Controller found "));//guitarhero控制器发现
break;
case 3:
Serial.println(F("Wireless Sony DualShock Controller found "));//无线索尼DualShock控制器发现
break;
}
}
void PS2_Control()
{
/* 您必须读取Gamepad才能获取新值并设置振动值
?????ps2x.read_gamepad（小电机开/关，较大电机强度从0-255）
?????如果不开启震动功能，请使用ps2x.read_gamepad();
没有值你应该至少称之为一秒钟
*/
if(error == 1)
{ //如果没有控制器发现，跳过循环
resetFunc();
}
if(type == 2)
{ //guitarhero控制器
ps2x.read_gamepad();//读控制器
return;
}
else
{ //DualShock控制器
ps2x.read_gamepad(false, vibrate); //读取控制器并设置大电机以“振动”速度旋转
if(ps2x.Button(PSB_START)) //按下START启动遥控只要按下按钮，它将为TRUE
Serial.println(F("Start !"));
if(ps2x.Button(PSB_SELECT))//按下SELECT(选择) 停止
{
Drive_Status=MANUAL_DRIVE;
Drive_Num=STOP_STOP;
}
if(ps2x.Button(PSB_PAD_UP))//按下 UP上前进
{
speedd = map(ps2x.Analog(PSAB_PAD_UP),0,255,100,255);//方向按键压力转化为小车的速度--越用力按压速度越快，下同
Drive_Status=MANUAL_DRIVE;
Drive_Num=GO_ADVANCE;
}
if(ps2x.Button(PSB_PAD_RIGHT))//按下 RIGHT右右转
{
speedd = map(ps2x.Analog(PSAB_PAD_RIGHT),0,255,100,255);
Drive_Status=MANUAL_DRIVE;
Drive_Num=GO_RIGHT;
}
if(ps2x.Button(PSB_PAD_LEFT))//按下 LEFT左左转
{
speedd = map(ps2x.Analog(PSAB_PAD_LEFT),0,255,100,255);
Drive_Status=MANUAL_DRIVE;
Drive_Num=GO_LEFT;
}
if(ps2x.Button(PSB_PAD_DOWN))//按下 DOWN下后退
{
speedd = map(ps2x.Analog(PSAB_PAD_DOWN),0,255,100,255);
Drive_Status=MANUAL_DRIVE;
Drive_Num=GO_BACK;
}
vibrate = ps2x.Analog(PSAB_CROSS); //这将根据您按下蓝色（X）按钮的难度设置大型电机振动速度
if (ps2x.NewButtonState())
{ //如果任何按钮改变状态（关闭或关闭至开启）将为TRUE
if(ps2x.Button(PSB_L3))//按下左摇杆
{
Serial.println(F("L3 pressed"));
}
if(ps2x.Button(PSB_TRIANGLE))//按下 △
{
BEEP_ON;//蜂鸣器响
TLED_ON;//亮灯
}
}
if(ps2x.NewButtonState(PSB_CROSS)) //按下按下 X
{
BEEP_OFF;//蜂鸣器灭
TLED_OFF;//灭灯
}
if(ps2x.ButtonReleased(PSB_SQUARE)) //按下 □ 循迹
{
Drive_Status=AutoTracking;//循迹
}
if(ps2x.ButtonPressed(PSB_CIRCLE)) //按下 ○ 避障
{
Drive_Status=AutoObstruct;//避障
}
if(ps2x.Button(PSB_R3))//按下右摇杆摇动左摇杆控制小车前进后退左右转
{
if(ps2x.Analog(PSS_LX)>127)
{
speedd = map(ps2x.Analog(PSS_LX),127,255,0,255);
Drive_Status=MANUAL_DRIVE;
Drive_Num=GO_RIGHT;
}
if(ps2x.Analog(PSS_LX)<127)
{
speedd = map(ps2x.Analog(PSS_LX),127,0,0,255);
Drive_Status=MANUAL_DRIVE;
Drive_Num=GO_LEFT;
}
……………………
…………限于本文篇幅余下代码请从51黑下载附件…………

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#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.
int error = 0;
byte type = 0;
byte vibrate = 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
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.");
}
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. ");
//Serial.print(ps2x.Analog(1), HEX);
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) //skip loop if no controller found
return;
if(type == 2){ //Guitar Hero Controller
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_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);
}
if(ps2x.Button(PSB_PAD_RIGHT)){
Serial.print("Right held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_RIGHT), DEC);
}
if(ps2x.Button(PSB_PAD_LEFT)){
Serial.print("LEFT held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_LEFT), DEC);
}
if(ps2x.Button(PSB_PAD_DOWN)){
Serial.print("DOWN held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);
}
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);
}

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