使用arduino ps2无线遥控手柄实现 遥控小车

#include <PS2X_lib.h>

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.


//说明：线连接好后，ps2手柄，前车往前移动，后-车往后移动....

int error = 0;
byte type = 0;
byte vibrate = 0;

// 电机控制引脚；
#define IN1 4
#define IN2 5
#define IN3 6
#define IN4 7

void setup() {

  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);


  Serial.begin(57600);
  delay(300) ;


  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.");
  }

  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. ");

  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");
    }else if (ps2x.Button(PSB_SELECT)){
      Serial.println("Select is being held");
    }else if (ps2x.Button(PSB_PAD_UP)) {        // 前
      Serial.print("Up held this hard: ");
      Serial.println(ps2x.Analog(PSAB_PAD_UP), DEC);
      Serial.print("---------前进 ");
      digitalWrite(IN1, LOW);
       digitalWrite(IN2, HIGH);
       digitalWrite(IN3, HIGH);
       digitalWrite(IN4, LOW);  
    }else if (ps2x.Button(PSB_PAD_RIGHT)) {   // 右
      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)) {   // 左
      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)) {  // 后
      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);

}