Este é o sketch do programa para controlar nosso carro robô. Infelizmente, devido ao limitado número de portas digitais do arduino uno, teremos que retirar o motor de passo que controla a subida e descida da garra, para podermos conectar o receptor do controle de PS2. Logo a baixo está o esquema das conexões do controle na placa arduino:
Link para download da biblioteca PS2:
A baixo está disponível o sketch:
// Programa para controlar o carro robô a partir de um comtrole PS2;
#include <Servo.h>
Servo myservo; // cria um objeto que possibilita o controle de um servo;
int potpin = 0; // analog pin used to connect the potentiometer
int val; // variable to read the value from the analog pin
#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;
char estant = 'a';
void setup(){
myservo.attach(2);
Serial.begin(57600);
// declaracao dos pinos digitais
pinMode(3,OUTPUT);
pinMode(5,OUTPUT);
pinMode(6,OUTPUT);
pinMode(9,OUTPUT);
//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");
// carrinho anda para frente ************************************************
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);
analogWrite(3,ps2x.Analog(PSAB_PAD_UP));
analogWrite(6,ps2x.Analog(PSAB_PAD_UP));
estant = 'U';
}
if(ps2x.ButtonReleased(PSB_PAD_UP) && estant == 'U')
{
analogWrite(3,0);
analogWrite(5,0);
analogWrite(6,0);
analogWrite(9,0);
estant = 'v';
}
// carrinho anda para tras **************************************************
if(ps2x.Button(PSB_PAD_DOWN)){
Serial.print("DOWN held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);
analogWrite(5,ps2x.Analog(PSAB_PAD_DOWN));
analogWrite(9,ps2x.Analog(PSAB_PAD_DOWN));
estant = 'D';
}
if(ps2x.ButtonReleased(PSB_PAD_DOWN) && estant == 'D')
{
analogWrite(3,0);
analogWrite(5,0);
analogWrite(6,0);
analogWrite(9,0);
estant = 'v';
}
// carrinho vira para a esquerda ********************************************
if(ps2x.Button(PSB_PAD_RIGHT)){
Serial.print("Right held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_RIGHT), DEC);
analogWrite(3,ps2x.Analog(PSAB_PAD_RIGHT));
analogWrite(9,ps2x.Analog(PSAB_PAD_RIGHT));
estant = 'R';
}
if(ps2x.ButtonReleased(PSB_PAD_RIGHT) && estant == 'R')
{
analogWrite(3,0);
analogWrite(5,0);
analogWrite(6,0);
analogWrite(9,0);
estant = 'v';
}
// carrinho vira para a esquerda *******************************************
if(ps2x.Button(PSB_PAD_LEFT)){
Serial.print("LEFT held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_LEFT), DEC);
analogWrite(5,ps2x.Analog(PSAB_PAD_LEFT));
analogWrite(6,ps2x.Analog(PSAB_PAD_LEFT));
estant = 'L';
}
if(ps2x.ButtonReleased(PSB_PAD_LEFT) && estant == 'L')
{
analogWrite(3,0);
analogWrite(5,0);
analogWrite(6,0);
analogWrite(9,0);
estant = 'v';
}
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.print("Square just released. ");
}
if(ps2x.NewButtonState(PSB_BLUE)) //will be TRUE if button was JUST pressed OR released
{
Serial.print("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);
myservo.write(ps2x.Analog(PSS_LY));
}
}
delay(50);
}
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