注意周一：上午是毛概（超星课程），以及工程材料（QQ直播）
1 // PS2 Tank by Igor Fonseca @2019 2 // Controls a robotic tank using a PS2 joystick, using D-pad buttons 3 // based on an example using the PS2X library by Bill Porter 2011 4 // All text above must be included in any redistribution. 5 6 // include libraries 7 #include <PS2X_lib.h> 8 9 // These are used to set the direction of the bridge driver. 10 #define ENA 3 //ENA 11 #define MOTORA_1 4 //IN3 12 #define MOTORA_2 5 //IN4 13 #define MOTORB_1 8 //IN1 14 #define MOTORB_2 7 //IN2 15 #define ENB 6 //ENB 16 17 PS2X ps2x; // create PS2 Controller Class 18 19 //right now, the library does NOT support hot pluggable controllers, meaning 20 //you must always either restart your Arduino after you conect the controller, 21 //or call config_gamepad(pins) again after connecting the controller. 22 int error = 0; 23 byte type = 0; 24 byte vibrate = 0; 25 26 void setup(){ 27 28 // Configure output pins 29 pinMode(ENA, OUTPUT); 30 pinMode(MOTORA_1, OUTPUT); 31 pinMode(MOTORA_2, OUTPUT); 32 pinMode(ENB, OUTPUT); 33 pinMode(MOTORB_1, OUTPUT); 34 pinMode(MOTORB_2, OUTPUT); 35 36 // Disable both motors 37 digitalWrite(ENA,0); 38 digitalWrite(ENB,0); 39 40 // Start serial communication 41 Serial.begin(57600); 42 43 error = ps2x.config_gamepad(13,11,10,12, true, true); //setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error 44 45 // Check for error 46 if(error == 0){ 47 Serial.println("Found Controller, configured successful"); 48 } 49 50 else if(error == 1) 51 Serial.println("No controller found, check wiring or reset the Arduino"); 52 53 else if(error == 2) 54 Serial.println("Controller found but not accepting commands"); 55 56 else if(error == 3) 57 Serial.println("Controller refusing to enter Pressures mode, may not support it."); 58 59 // Check for the type of controller 60 type = ps2x.readType(); 61 switch(type) { 62 case 0: 63 Serial.println("Unknown Controller type"); 64 break; 65 case 1: 66 Serial.println("DualShock Controller Found"); 67 break; 68 case 2: 69 Serial.println("GuitarHero Controller Found"); 70 break; 71 } 72 } 73 74 // Main loop 75 void loop(){ 76 77 if(error == 1) //skip loop if no controller found 78 return; 79 80 else { //DualShock Controller 81 82 ps2x.read_gamepad(false, vibrate); // disable vibration of the controller 83 84 // Perform movements based on D-pad buttons 85 86 // MOVE FORWARD 87 if(ps2x.Button(PSB_PAD_UP)) { 88 digitalWrite(MOTORA_1,LOW); 89 digitalWrite(MOTORA_2,HIGH); 90 digitalWrite(MOTORB_1,HIGH); 91 digitalWrite(MOTORB_2,LOW); 92 analogWrite(ENB, 1023); 93 analogWrite(ENA, 1023); 94 Serial.println("Move forward"); 95 } 96 // TURN RIGHT 97 if(ps2x.Button(PSB_PAD_RIGHT)){ 98 digitalWrite(MOTORA_1,HIGH); 99 digitalWrite(MOTORA_2,LOW); 100 digitalWrite(MOTORB_1,HIGH); 101 digitalWrite(MOTORB_2,LOW); 102 analogWrite(ENB, 1023); 103 analogWrite(ENA, 1023); 104 Serial.println("Turn right"); 105 } 106 // TURN LEFT 107 if(ps2x.Button(PSB_PAD_LEFT)){ 108 digitalWrite(MOTORA_1,LOW); 109 digitalWrite(MOTORA_2,HIGH); 110 digitalWrite(MOTORB_1,LOW); 111 digitalWrite(MOTORB_2,HIGH); 112 analogWrite(ENB, 1023); 113 analogWrite(ENA, 1023); 114 Serial.println("Turn left"); 115 } 116 // MOVE BACK 117 if(ps2x.Button(PSB_PAD_DOWN)){ 118 digitalWrite(MOTORA_1,HIGH); 119 digitalWrite(MOTORA_2,LOW); 120 digitalWrite(MOTORB_1,LOW); 121 digitalWrite(MOTORB_2,HIGH); 122 analogWrite(ENB, 1023); 123 analogWrite(ENA, 1023); 124 Serial.println("Move back"); 125 } 126 if (!ps2x.Button(PSB_PAD_DOWN) && !ps2x.Button(PSB_PAD_UP) && !ps2x.Button(PSB_PAD_RIGHT) && !ps2x.Button(PSB_PAD_LEFT)) { 127 analogWrite(ENB, 0); 128 analogWrite(ENA, 0); 129 } 130 131 delay(50); 132 } 133 }