#include <PS2X_lib.h> //for v1.6
#include <Wire.h>
#include "./Adafruit_PWMServoDriver.h"
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40);
/**
定义端口号
*/
#define PS2_DAT 13 //14
#define PS2_CMD 11 //15
#define PS2_SEL 10 //16
#define PS2_CLK 12 //17
#define pressures true
//#define pressures false
#define rumble true
//#define rumble false
PS2X ps2x; // create PS2 Controller Class
int error = 0;
byte type = 0;
byte vibrate = 0;
void setup(){
pwm.begin();
pwm.setPWMFreq(60); // Analog servos run at ~60 Hz updates
LOGO_breathing_light(255, 40, 5); //Gradually light the blue light of the Yhaboom_LOGO
Serial.begin(57600);//串口通信波特率
delay(500); //延迟以保证PS2正常启动
//setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error
error = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);
if(error == 0){
Serial.print("Found Controller, configured successful ");
Serial.print("pressures = ");
if (pressures){
Serial.println("true ");
}
else{
Serial.println("false");
}
Serial.print("rumble = ");
if (rumble){
Serial.println("true)");
}
else{
Serial.println("false");
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("Note: Go to www.billporter.info for updates and to report bugs.");
}
}
else if(error == 1){
Serial.println("未发现控制器，请检查排线是否正常！！");
error = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);
}
else if(error == 2)
Serial.println("找到控制器，但不接受命令！！");
else if(error == 3)
Serial.println("控制器拒绝进入压力模式，可能不支持该模式！！");
// Serial.print(ps2x.Analog(1), HEX);
type = ps2x.readType();
switch(type) {
case 0:
Serial.print("找到未知的控制器类型！！");
error = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);
break;
case 1:
Serial.print("找到DualShock控制器");//我的手柄
break;
case 2:
Serial.print("找到GuitarHero控制器");
break;
case 3:
Serial.print("找到无线Sony DualShock控制器");
break;
}
}
void loop() {
/* You must Read Gamepad to get new values 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){ //未发现控制器
DoStop();
return;
}
Serial.println("在Loop中");
type = ps2x.readType();
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控制器
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) ;
DoRun(150);
}
else if(ps2x.Button(PSB_PAD_DOWN)){
Serial.print("DOWN held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);
DoBack(150);
}
else if(ps2x.Button(PSB_PAD_LEFT)){
Serial.print("LEFT held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_LEFT), DEC);
TurnLeft(100);
}
else if(ps2x.Button(PSB_PAD_RIGHT)){
Serial.print("Right held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_RIGHT), DEC);
TurnRight(100);
}
else{
DoStop();
}
vibrate = ps2x.Analog(PSAB_CROSS); //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_TRIANGLE))
Serial.println("Triangle pressed");
}
if(ps2x.ButtonPressed(PSB_CIRCLE)) //will be TRUE if button was JUST pressed
Serial.println("Circle just pressed");
if(ps2x.NewButtonState(PSB_CROSS)) //will be TRUE if button was JUST pressed OR released
Serial.println("X just changed");
if(ps2x.ButtonReleased(PSB_SQUARE)) //will be TRUE if button was JUST released
Serial.println("Square just released");
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);
}
void LOGO_breathing_light(int brightness, int time, int increament)
{
if (brightness < 0)
{
brightness = 0;
}
if (brightness > 255)
{
brightness = 255;
}
for (int b = 0; b < brightness; b += increament)
{
int newb = map(b, 0, 255, 0, 4095);
pwm.setPWM(7, 0, newb);
delay(time);
}
}
//前进
void DoRun(int Speed)
{
Speed = map(Speed, 0, 255, 0, 4095);
pwm.setPWM(10, 0, Speed); //Right front wheel Forward
pwm.setPWM(11, 0, 0);
pwm.setPWM(8, 0, Speed); //Right rear wheel Forward
pwm.setPWM(9, 0, 0);
pwm.setPWM(13, 0, Speed); //Left front wheel Forward
pwm.setPWM(12, 0, 0);
pwm.setPWM(15, 0, Speed); //Left rear wheel Forward
pwm.setPWM(14, 0, 0);
}
//后退
void DoBack(int Speed)
{
Speed = map(Speed, 0, 255, 0, 4095);
pwm.setPWM(10, 0, 0); //Right front wheel Forward
pwm.setPWM(11, 0, Speed);
pwm.setPWM(8, 0, 0); //Right rear wheel Forward
pwm.setPWM(9, 0, Speed);
pwm.setPWM(13, 0, 0); //Left front wheel Forward
pwm.setPWM(12, 0, Speed);
pwm.setPWM(15, 0, 0); //Left rear wheel Forward
pwm.setPWM(14, 0, Speed);
}
//左转
void TurnLeft(int Speed)
{
Speed = map(Speed, 0, 255, 0, 4095);
pwm.setPWM(10, 0, Speed); //Right front wheel Forward
pwm.setPWM(11, 0, 0);
pwm.setPWM(8, 0, Speed); //Right rear wheel Forward
pwm.setPWM(9, 0, 0);
pwm.setPWM(13, 0, 0); //Left front wheel Forward
pwm.setPWM(12, 0, Speed);
pwm.setPWM(15, 0, 0); //Left rear wheel Forward
pwm.setPWM(14, 0, Speed);
}
//右转
void TurnRight(int Speed)
{
Speed = map(Speed, 0, 255, 0, 4095);
pwm.setPWM(10, 0, 0); //Right front wheel Forward
pwm.setPWM(11, 0, Speed);
pwm.setPWM(8, 0, 0); //Right rear wheel Forward
pwm.setPWM(9, 0, Speed);
pwm.setPWM(13, 0, Speed); //Left front wheel Forward
pwm.setPWM(12, 0, 0);
pwm.setPWM(15, 0, Speed); //Left rear wheel Forward
pwm.setPWM(14, 0, 0);
}
//停止
void DoStop()
{
pwm.setPWM(10, 0, 0); //Right front wheel Forward
pwm.setPWM(11, 0, 0);
pwm.setPWM(8, 0, 0); //Right rear wheel Forward
pwm.setPWM(9, 0, 0);
pwm.setPWM(13, 0, 0); //Left front wheel Forward
pwm.setPWM(12, 0, 0);
pwm.setPWM(15, 0, 0); //Left rear wheel Forward
pwm.setPWM(14, 0, 0);
}
Processed:
0.010, SQL:
9
