通过PS2的摇杆控制履带车变速前进、后退及差速

林枫

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：

1. #include <PS2X_lib.h>  //for v1.6
   
2. 
   
3. /******************************************************************
   
4. * set pins connected to PS2 controller:
   
5. *   - 1e column: original
   
6. *   - 2e colmun: Stef?
   
7. * replace pin numbers by the ones you use
   
8. ******************************************************************/
   
9. #define PS2_DAT        A1  //   
   
10. #define PS2_CMD        A2  //
    
11. #define PS2_SEL        A3  //CS
    
12. #define PS2_CLK        A4  //
    
13. 
    
14. 
    
15. /*******************************************************************
    
16. * 定义小车调速引脚及电机驱动引脚
    
17. * 10对应8、9引脚调速信号
    
18. * 11对应12、13引脚调速信号
    
19. ******************************************************************/
    
20. const int PMW1 = 10;
    
21. const int PMW2 = 11;
    
22. 
    
23. const int MA1 = 8;
    
24. const int MA2 = 9;
    
25. const int MB1 = 12;
    
26. const int MB2 = 13;
    
27. 
    
28. 
    
29. /******************************************************************
    
30. * select modes of PS2 controller:
    
31. *   - pressures = analog reading of push-butttons
    
32. *   - rumble    = motor rumbling
    
33. * uncomment 1 of the lines for each mode selection
    
34. ******************************************************************/
    
35. #define pressures   true
    
36. //#define pressures   false
    
37. #define rumble      true
    
38. //#define rumble      false
    
39. 
    
40. PS2X ps2x; // create PS2 Controller Class
    
41. 
    
42. //right now, the library does NOT support hot pluggable controllers, meaning
    
43. //you must always either restart your Arduino after you connect the controller,
    
44. //or call config_gamepad(pins) again after connecting the controller.
    
45. 
    
46. int error = 0;
    
47. byte type = 0;
    
48. byte vibrate = 0;
    
49. bool smart = false;
    
50. int pwm1_value = 0;
    
51. int pwm2_value = 0;
    
52. 
    
53. 
    
54. // Reset func
    
55. void (* resetFunc) (void) = 0;
    
56. 
    
57. void setup(){
    
58. 
    
59.   Serial.begin(115200);
    
60.   
    
61.   delay(500);  //added delay to give wireless ps2 module some time to startup, before configuring it
    
62.   pinMode(PMW1,OUTPUT);
    
63.   pinMode(PMW2,OUTPUT);
    
64. 
    
65.   pinMode(MA1, OUTPUT);
    
66.   pinMode(MA2, OUTPUT);
    
67.   pinMode(MB1, OUTPUT);
    
68.   pinMode(MB2, OUTPUT);
    
69.   
    
70.   //CHANGES for v1.6 HERE!!! **************PAY ATTENTION*************
    
71.   
    
72.   //setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error
    
73.   error = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);
    
74.   
    
75.   if(error == 0){
    
76.     Serial.println("Found Controller, configured successful ");
    
77.     Serial.print("pressures = ");
    
78.   if (pressures)
    
79.     Serial.println("true ");
    
80.   else
    
81.     Serial.println("false");
    
82.   Serial.print("rumble = ");
    
83.   if (rumble)
    
84.     Serial.println("true");
    
85.   else
    
86.     Serial.println("false");
    
87.     Serial.println("Try out all the buttons, X will vibrate the controller, faster as you press harder;");
    
88.     Serial.println("holding L1 or R1 will print out the analog stick values.");
    
89.     Serial.println("Note: Go to www.billporter.info for updates and to report bugs.");
    
90.   }  
    
91.   else if(error == 1)
    
92.     Serial.println("No controller found, check wiring, see readme.txt to enable debug. visit www.billporter.info for troubleshooting tips");
    
93.    
    
94.   else if(error == 2)
    
95.     Serial.println("Controller found but not accepting commands. see readme.txt to enable debug. Visit www.billporter.info for troubleshooting tips");
    
96. 
    
97.   else if(error == 3)
    
98.     Serial.println("Controller refusing to enter Pressures mode, may not support it. ");
    
99.   
    
100.   type = ps2x.readType();
     
101.   switch(type) {
     
102.     case 0:
     
103.       Serial.println("Unknown Controller type found ");
     
104.       break;
     
105.     case 1:
     
106.       Serial.println("DualShock Controller found ");
     
107.       break;
     
108.     case 2:
     
109.       Serial.println("GuitarHero Controller found ");
     
110.       break;
     
111.   case 3:
     
112.       Serial.println("Wireless Sony DualShock Controller found ");
     
113.       break;
     
114.    }
     
115. }
     
116. 
     
117. 
     
118. void runup(){
     
119.   digitalWrite(MA1, LOW);
     
120.   digitalWrite(MA2, HIGH);
     
121.   digitalWrite(MB1, LOW);
     
122.   digitalWrite(MB2, HIGH);
     
123.   //Serial.println("行进方向：前进");
     
124. }
     
125. 
     
126. void backdown(){
     
127.   digitalWrite(MA1, HIGH);
     
128.   digitalWrite(MA2, LOW);
     
129.   digitalWrite(MB1, HIGH);
     
130.   digitalWrite(MB2, LOW);
     
131.   //Serial.println("行进方向：后退");
     
132. }
     
133. 
     
134. void pwm(int pmw1,int pmw2){
     
135.   pwm1_value = pmw1;
     
136.   pwm2_value = pmw2;
     
137. 
     
138.   analogWrite(PMW1,pwm1_value);//将摇杆值输出到pwm口用于调速，范围0-255
     
139.   analogWrite(PMW2,pwm2_value);
     
140. }
     
141. 
     
142. void loop() {
     
143.   /* You must Read Gamepad to get new values and set vibration values
     
144.      ps2x.read_gamepad(small motor on/off, larger motor strenght from 0-255)
     
145.      if you don't enable the rumble, use ps2x.read_gamepad(); with no values
     
146.      You should call this at least once a second
     
147.      你必须阅读手柄来获得新的值和设置振动值
     
148.      ps2x。Read_gamepad(小电机开/关，大电机强度0-255)
     
149.      如果你不启用rumble，使用ps2x.read_gamepad();没有值
     
150.      你应该至少每秒钟调用一次
     
151.    */  
     
152.   //Serial.println("测试手柄是否初始化！！！");
     
153.   if(error == 1){ //skip loop if no controller found
     
154.     resetFunc();
     
155.   }
     
156.   
     
157.   else { //DualShock Controller
     
158.     ps2x.read_gamepad(smart, vibrate); //read controller and set large motor to spin at 'vibrate' speed
     
159.    
     
160.     if(ps2x.Button(PSB_START))         //will be TRUE as long as button is pressed
     
161.       Serial.println("Start is being held");
     
162.     if(ps2x.Button(PSB_SELECT))
     
163.       Serial.println("Select is being held");      
     
164. 
     
165.     if(ps2x.Button(PSB_PAD_UP)) {      //will be TRUE as long as button is pressed
     
166.       Serial.print("Up held this hard: ");
     
167.       Serial.println(ps2x.Analog(PSAB_PAD_UP), DEC);
     
168.       delay(50);
     
169.       smart = true;                                       //左侧上按键控制右电机振动开启
     
170.     }
     
171.     if(ps2x.Button(PSB_PAD_RIGHT)){
     
172.       Serial.print("Right held this hard: ");
     
173.       Serial.println(ps2x.Analog(PSAB_PAD_RIGHT), DEC);
     
174.     }
     
175.     if(ps2x.Button(PSB_PAD_LEFT)){
     
176.       Serial.print("LEFT held this hard: ");
     
177.       Serial.println(ps2x.Analog(PSAB_PAD_LEFT), DEC);
     
178.       
     
179.     }
     
180.     if(ps2x.Button(PSB_PAD_DOWN)){
     
181.       Serial.print("DOWN held this hard: ");
     
182.       Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);
     
183.       delay(50);
     
184.       smart = false;                                      //左侧下按键控制右电机振动关闭
     
185.     }   
     
186. 
     
187.     //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
     
188.     //Serial.print(ps2x.Analog(PSAB_CROSS), DEC);
     
189.     if (ps2x.NewButtonState()) {        //will be TRUE if any button changes state (on to off, or off to on)
     
190.       if(ps2x.Button(PSB_L3))
     
191.         Serial.println("L3 pressed");
     
192.       if(ps2x.Button(PSB_R3))
     
193.         Serial.println("R3 pressed");
     
194.       if(ps2x.Button(PSB_L2))
     
195.         Serial.println("L2 pressed");
     
196.       if(ps2x.Button(PSB_R2))
     
197.         Serial.println("R2 pressed");
     
198.       if(ps2x.Button(PSB_TRIANGLE))
     
199.         Serial.println("Triangle pressed");        
     
200.     }
     
201. 
     
202.     if(ps2x.ButtonPressed(PSB_CIRCLE))               //will be TRUE if button was JUST pressed
     
203.       Serial.println("Circle just pressed");
     
204.     if(ps2x.NewButtonState(PSB_CROSS))               //will be TRUE if button was JUST pressed OR released
     
205.       Serial.println("X just changed");
     
206.     if(ps2x.ButtonReleased(PSB_SQUARE))              //will be TRUE if button was JUST released
     
207.       Serial.println("Square just released");
     
208. 
     
209.     if(ps2x.Button(PSB_L1) || ps2x.Button(PSB_R1)) { //print stick values if either is TRUE
     
210.       Serial.print("Stick Values:");
     
211.       Serial.print(ps2x.Analog(PSS_LY), DEC); //Left stick, Y axis. Other options: LX, RY, RX  
     
212.       Serial.print(",");
     
213.       Serial.print(ps2x.Analog(PSS_LX), DEC);
     
214.       Serial.print(",");
     
215.       Serial.print(ps2x.Analog(PSS_RY), DEC);
     
216.       Serial.print(",");
     
217.       Serial.println(ps2x.Analog(PSS_RX), DEC);
     
218. 
     
219.       /**********************************************************************
     
220.        * 将摇杆中心点值转换为以0起始值，并放大对应到255
     
221.        * 通过判断摇杆中心点位置来决定小车前进/后退
     
222.        *********************************************************************/
     
223. 
     
224.       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
     
225.       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
     
226.       if (Y2 <= 255)
     
227.       {
     
228.         Y2 = Y2;
     
229.       }
     
230.       else
     
231.       {
     
232.         Y2 = Y2-1;
     
233.       }
     
234. 
     
235.       int X1 = ps2x.Analog(PSS_LX);//将摇杆模拟值赋值给变量X1，用于控制差速
     
236.       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
     
237.       if (X2 <= 255)
     
238.       {
     
239.         X2 = X2;
     
240.       }
     
241.       else
     
242.       {
     
243.         X2 = X2-1;
     
244.       }
     
245. 
     
246.       if(Y1<=127){                           //判断Y摇杆向上越过中心点为前进
     
247.         runup();
     
248.         if(X1<128){                          //判断摇杆X方向位置
     
249.           //Serial.println("右电机加速");
     
250.           pwm(X2,Y2);
     
251.         }
     
252.         else if(X1>128){
     
253.           //Serial.println("左电机加速");
     
254.           pwm(Y2,X2);
     
255.         }
     
256.         else{
     
257.           //Serial.println("两电机等速直行");
     
258.           pwm(Y2,Y2);
     
259.         }   
     
260.       }
     
261.       else if(Y1>127){                      //判断Y摇杆向下越过中心点为后退
     
262.         backdown();
     
263.         if(X1<128){                         //判断摇杆X方向位置
     
264.           //Serial.println("右电机加速");
     
265.           pwm(X2,Y2);
     
266.         }
     
267.         else if(X1>128){
     
268.           //Serial.println("左电机加速");
     
269.           pwm(Y2,X2);
     
270.         }
     
271.         else{
     
272.           //Serial.println("两电机等速直行");
     
273.           pwm(Y2,Y2);
     
274.         }  
     
275.       }
     
276.    
     
277.       //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
     
278. 
     
279. /*
     
280.       Serial.print("摇杆Y向居中值:");
     
281.       Serial.println(Y2);
     
282.       Serial.print("摇杆X向原始值:");
     
283.       Serial.println(X1);
     
284.       Serial.print("摇杆X向居中值:");
     
285.       Serial.println(X2);
     
286. */      
     
287.     }     
     
288.   }
     
289.   delay(10);  
     
290. }

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未完待续！