#include <PS2X_lib.h> //for v1.6
/******************************************************************
* set pins connected to PS2 controller:
* - 1e column: original
* - 2e colmun: Stef?
* replace pin numbers by the ones you use
******************************************************************/
//PS2
#define PS2_DAT 13 //14
#define PS2_CMD 11 //15
#define PS2_SEL 10 //16
#define PS2_CLK 12 //17
// 電機控制引腳
#define IN1 4
#define IN2 5
#define IN3 6
#define IN4 7
//PWM控制引腳；
int speedPinA = 8;
int speedPinB = 9;
int speed;
/******************************************************************
* select modes of PS2 controller:
* - pressures = analog reading of push-butttons
* - rumble = motor rumbling
* uncomment 1 of the lines for each mode selection
******************************************************************/
#define pressures true
//#define pressures false
#define rumble true
//#define rumble false
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 connect the controller,
//or call config_gamepad(pins) again after connecting the controller.
int error = 0;
byte type = 0;
byte vibrate = 0;
// Reset func
void (* resetFunc) (void) = 0;
void setup(){
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
speed =200;
Serial.begin(115200);
delay(300); //added delay to give wireless ps2 module some time to startup, before configuring it
//CHANGES for v1.6 HERE!!! **************PAY ATTENTION*************
//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("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 found ");
break;
case 1:
Serial.println("DualShock Controller found ");
break;
case 2:
Serial.println("GuitarHero Controller found ");
break;
case 3:
Serial.println("Wireless Sony DualShock Controller found ");
break;
}
}
void turnLeft()
{
digitalWrite(IN1,LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4,LOW);
}
void turnRight()
{
digitalWrite(IN1,HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}
void forward()
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}
void back()
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}
void stop()
{
digitalWrite(IN1, LOW);
digitalWrite(IN2,LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
}
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){ //skip loop if no controller found
return;
}
if(type == 2){ //Guitar Hero Controller
return;
}
else { //DualShock Controller
ps2x.read_gamepad(false, vibrate); //read controller and set large motor to spin at 'vibrate' speed
//開始運行
if(ps2x.Button(PSB_START)) { //will be TRUE as long as button is pressed
Serial.println("Start is being held");
speed = 120;
analogWrite(speedPinA, speed);
analogWrite(speedPinB, speed);
forward();
}
if(ps2x.Button(PSB_SELECT)){
Serial.println("stop");
speed = 0;
analogWrite(speedPinA,speed);
analogWrite(speedPinB,speed);
stop();
}
if(ps2x.Button(PSB_PAD_UP)) { //will be TRUE as long as button is pressed
Serial.println("Up held this hard: ");
//speed= 200;
analogWrite(speedPinA, speed);
analogWrite(speedPinB, speed);
forward();
}
if(ps2x.Button(PSB_PAD_RIGHT)){
Serial.println("turn right");
analogWrite(speedPinA, 0);
analogWrite(speedPinB, speed);
turnRight();
}
if(ps2x.Button(PSB_PAD_LEFT)){
Serial.println("turn left ");
analogWrite(speedPinA, speed);
analogWrite(speedPinB, 0);
turnLeft();
}
if(ps2x.Button(PSB_PAD_DOWN)){
Serial.print("Down held this hard: ");
// speed= 200;
analogWrite(speedPinA, speed);
analogWrite(speedPinB, speed);
back();
}
}
}
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