通过PS2的摇杆控制履带车变速前进、后退及差速
本帖最后由 林枫 于 2022-1-21 11:08 编辑最近疫情比较紧张，过年可能无法回老家了，想着家里还有一些“电子垃圾”吃灰好久了，过年期间比较无聊，特搞了个PS2手柄玩起来。
主要功能如下：
1、将摇杆的模拟值移植到pwm上用于履带车两个电机的调速和差速；
2、并且通过推动油门摇杆使手柄左侧电机有对应的震动反馈（可移植到避障函数上通过距离改变振幅），通过按键启动右侧电机反馈。
如图为小车全家桶照片，图中小车仅通过Arduino接收摇杆数据驱动。
其他角度图片见帖子最后。
还有很多玩法，如：
1、通过手柄右侧摇杆控制车头舵机运动
2、将树莓派与Arduino相连后可以在树莓派中运行扫地机器人地图算法用于扫描各房间
3、将光线传感器、人体传感器接入树莓派用于开、关灯
4、还有oled屏幕、bmp280等诸多硬件没有集成上来有待开发
废话不多说，PS2控制部分源码如下：
#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
******************************************************************/
#define PS2_DAT A1//
#define PS2_CMD A2//
#define PS2_SEL A3//CS
#define PS2_CLK A4//
/*******************************************************************
* 定义小车调速引脚及电机驱动引脚
* 10对应8、9引脚调速信号
* 11对应12、13引脚调速信号
******************************************************************/
const int PMW1 = 10;
const int PMW2 = 11;
const int MA1 = 8;
const int MA2 = 9;
const int MB1 = 12;
const int MB2 = 13;
/******************************************************************
* 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;
bool smart = false;
int pwm1_value = 0;
int pwm2_value = 0;
// Reset func
void (* resetFunc) (void) = 0;
void setup(){
Serial.begin(115200);
delay(500);//added delay to give wireless ps2 module some time to startup, before configuring it
pinMode(PMW1,OUTPUT);
pinMode(PMW2,OUTPUT);
pinMode(MA1, OUTPUT);
pinMode(MA2, OUTPUT);
pinMode(MB1, OUTPUT);
pinMode(MB2, OUTPUT);
//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.println("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 runup(){
digitalWrite(MA1, LOW);
digitalWrite(MA2, HIGH);
digitalWrite(MB1, LOW);
digitalWrite(MB2, HIGH);
//Serial.println("行进方向：前进");
}
void backdown(){
digitalWrite(MA1, HIGH);
digitalWrite(MA2, LOW);
digitalWrite(MB1, HIGH);
digitalWrite(MB2, LOW);
//Serial.println("行进方向：后退");
}
void pwm(int pmw1,int pmw2){
pwm1_value = pmw1;
pwm2_value = pmw2;
analogWrite(PMW1,pwm1_value);//将摇杆值输出到pwm口用于调速，范围0-255
analogWrite(PMW2,pwm2_value);
}
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
你必须阅读手柄来获得新的值和设置振动值
ps2x。Read_gamepad(小电机开/关，大电机强度0-255)
如果你不启用rumble，使用ps2x.read_gamepad();没有值
你应该至少每秒钟调用一次
*/
//Serial.println("测试手柄是否初始化！！！");
if(error == 1){ //skip loop if no controller found
resetFunc();
}
else { //DualShock Controller
ps2x.read_gamepad(smart, 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);
delay(50);
smart = true; //左侧上按键控制右电机振动开启
}
if(ps2x.Button(PSB_PAD_RIGHT)){
Serial.print("Right held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_RIGHT), DEC);
}
if(ps2x.Button(PSB_PAD_LEFT)){
Serial.print("LEFT held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_LEFT), DEC);
}
if(ps2x.Button(PSB_PAD_DOWN)){
Serial.print("DOWN held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);
delay(50);
smart = false; //左侧下按键控制右电机振动关闭
}
//vibrate = ps2x.Analog(PSAB_CROSS);//this will set the large motor vibrate speed based on how hard you press the blue (X) button,这将根据你按下蓝色(X)按钮的力度来设置大电机振动速度
//Serial.print(ps2x.Analog(PSAB_CROSS), DEC);
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);
/**********************************************************************
* 将摇杆中心点值转换为以0起始值，并放大对应到255
* 通过判断摇杆中心点位置来决定小车前进/后退
*********************************************************************/
int Y1 = ps2x.Analog(PSS_LY);//将摇杆模拟值赋值给变量Y1,用于控制前进速度
int Y2 = abs(Y1-127)*2;//将摇杆模拟值经计算后转化为中心点为0，上下摇动值最大为255
if (Y2 <= 255)
{
Y2 = Y2;
}
else
{
Y2 = Y2-1;
}
int X1 = ps2x.Analog(PSS_LX);//将摇杆模拟值赋值给变量X1，用于控制差速
int X2 = abs(X1-128)*2;//将摇杆模拟值经计算后转化为中心点为0，左右摇动值最大为255
if (X2 <= 255)
{
X2 = X2;
}
else
{
X2 = X2-1;
}
if(Y1<=127){ //判断Y摇杆向上越过中心点为前进
runup();
if(X1<128){ //判断摇杆X方向位置
//Serial.println("右电机加速");
pwm(X2,Y2);
}
else if(X1>128){
//Serial.println("左电机加速");
pwm(Y2,X2);
}
else{
//Serial.println("两电机等速直行");
pwm(Y2,Y2);
}
}
else if(Y1>127){ //判断Y摇杆向下越过中心点为后退
backdown();
if(X1<128){ //判断摇杆X方向位置
//Serial.println("右电机加速");
pwm(X2,Y2);
}
else if(X1>128){
//Serial.println("左电机加速");
pwm(Y2,X2);
}
else{
//Serial.println("两电机等速直行");
pwm(Y2,Y2);
}
}
//vibrate = Y2;//摇杆的模拟值反馈到电机振动上，范围0-255，开启后手柄振动随车速而增强
/*
Serial.print("摇杆Y向居中值:");
Serial.println(Y2);
Serial.print("摇杆X向原始值:");
Serial.println(X1);
Serial.print("摇杆X向居中值:");
Serial.println(X2);
*/
}
}
delay(10);
}
未完待续！
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