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//#include <Servo.h>
#include <PS2X_lib.h> //for v1.6
PS2X ps2x;
//Servo myservo;
#define PS2_DAT 13 //14
#define PS2_CMD 7 //15
#define PS2_SEL 8 //16
#define PS2_CLK 12 //17
#define PWMA1 3 //Motor A's pin
#define PWMA2 5 //Motor A's pin
#define PWMA3 9 //Motor A's pin
#define PWMA4 6 //Motor A's pin
#define SERVOPIN 4 //servo's pin
#define SERVOMIN 30 //the angle of servo
#define SERVOMID 90
#define SERVOMAX 150
#define TURNLEFT myservo.write(SERVOMIN) //turn left
#define TURNMID myservo.write(SERVOMID) //turn middle
#define TURNRIGHT myservo.write(SERVOMAX) //turn right
#define MOTORFOWARD setMotorA(255) //motor foward
#define MOTORBACK setMotorA(-255) //motor back
#define MOTORSTOP setMotorA(0) //motor stop
bool EnableRockerR = 1;
bool EnableRockerL = 1;
int RMid = 0 ;
int LStop = 0 ;
#define pressures false
#define rumble false
int error = 0;
byte type = 0;
byte vibrate = 0;
void setup() {
Serial.begin(57600);
pinMode(PWMA1, OUTPUT);
pinMode(PWMA2, OUTPUT);
pinMode(PWMA3, OUTPUT);
pinMode(PWMA4, OUTPUT);
myservo.attach(SERVOPIN);
SERVOMID;
delay(300);
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.print("Unknown Controller type found ");
break;
case 1:
Serial.print("DualShock Controller found ");
break;
case 2:
Serial.print("GuitarHero Controller found ");
break;
case 3:
Serial.print("Wireless Sony DualShock Controller found ");
break;
}
}
void(* resetFunc) (void) = 0;
void loop() {
if (error == 1) //skip loop if no controller found
resetFunc();
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.ButtonPressed(PSB_PAD_UP)) {
Serial.println("PAD_UP just pressed");
MOTORFOWARD;
EnableRockerL = 0;
}else if(ps2x.ButtonReleased(PSB_PAD_UP)) {
Serial.println(" PAD_UP just released");
MOTORSTOP;
EnableRockerL = 1;
LStop = 0;
}
if (ps2x.ButtonPressed(PSB_PAD_DOWN)) {
Serial.println("PAD_DOWN just pressed");
MOTORBACK;
EnableRockerL = 0;
}else if(ps2x.ButtonReleased(PSB_PAD_DOWN)) {
Serial.println(" PAD_DOWN just released");
MOTORSTOP;
EnableRockerL = 1;
LStop = 0;
}
if (EnableRockerL) {
if (0 <= ps2x.Analog(PSS_LY) && ps2x.Analog(PSS_LY) < 100) {
Serial.println(" f");
MOTORFOWARD;
LStop = 0;
} else if (255 >= ps2x.Analog(PSS_LY) && ps2x.Analog(PSS_LY) > 170) {
MOTORBACK;
Serial.println(" b");
LStop = 0;
} else {
if(LStop == 0){
MOTORSTOP;
Serial.println(" s");
LStop ++;
}
}
}
if (ps2x.ButtonPressed(PSB_CIRCLE)) { //will be TRUE if button was JUST pressed
Serial.println("Circle just pressed");
TURNRIGHT;
EnableRockerR = 0;
} else if (ps2x.ButtonReleased(PSB_CIRCLE)) {
Serial.println("Circle just released");
TURNMID;
EnableRockerR = 1;
RMid = 0;
}
if (ps2x.ButtonPressed(PSB_SQUARE)) { //will be TRUE if button was JUST released
Serial.println("Square just pressed");
TURNLEFT;
EnableRockerR = 0;
} else if (ps2x.ButtonReleased(PSB_SQUARE)) { //will be TRUE if button was JUST released
Serial.println("Square just released");
TURNMID;
EnableRockerR = 1;
RMid = 0;
}
if (EnableRockerR) {
if (0 <= ps2x.Analog(PSS_RX)&ps2x.Analog(PSS_RX) < 100) {
TURNLEFT;
Serial.println(" l");
RMid = 0;
} else if (255 >= ps2x.Analog(PSS_RX)&ps2x.Analog(PSS_RX) > 160) {
TURNRIGHT;
Serial.println(" r");
RMid = 0;
} else {
if(RMid == 0){
TURNMID;
Serial.println(" mid");
RMid ++;
}
}
}
if (ps2x.NewButtonState(PSB_CROSS)) { //will be TRUE if button was JUST pressed OR released
Serial.println("X just changed");
MOTORSTOP;
}
delay(50);
}
void setMotorA(int m1Speed) //電機驅動函數
{
if (m1Speed >= 0)
{
digitalWrite(PWMA2, HIGH);
analogWrite(PWMA1, 255 - m1Speed);
digitalWrite(PWMA4, HIGH);
analogWrite(PWMA3, 255 - m1Speed);
}
else
{
digitalWrite(PWMA1, HIGH);
analogWrite(PWMA2, m1Speed + 255);
digitalWrite(PWMA3, HIGH);
analogWrite(PWMA4, m1Speed + 255);
}
}

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