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PS2手柄遥控Arduino小车[通俗易懂]

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PS2手柄遥控Arduino小车[通俗易懂]使用手柄遥控小车是经常要用到的，看到PS2手柄很6，就拿来尝试一下。PS2手柄是索尼的PlayStation2游戏机的遥控手柄，因为这款手柄性价比较高，按键丰富，方便扩展到其它应用中，后来有人将其通讯协议破解，使得手柄可以用在遥控其他电器上，比如遥控控制机器人小车。最主要的是这款手柄，拿来就可以用，有人已经将其通讯协议破解了。具体可以参考极客工坊。其PS2X_lib库，可以参见Github

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使用手柄遥控小车是经常要用到的，看到PS2手柄很6，就拿来尝试一下。
PS2手柄是索尼的PlayStation2游戏机的遥控手柄，因为这款手柄性价比较高，按键丰富，方便扩展到其它应用中，后来有人将其通讯协议破解，使得手柄可以用在遥控其他电器上，比如遥控控制机器人小车。

最主要的是这款手柄，拿来就可以用，有人已经将其通讯协议破解了。
具体可以参考极客工坊。 其PS2X_lib库，可以参见Github.
这种摇杆有无线的和有线的，都是连接到Arduino上，我用的是有线的。

这里写图片描述

1. 手柄测试

将库文件放入Arduino IDE的安装的libaries文件夹中。 然后可以使用其中的example 例程测试一下。
程序如下：

#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        13  //14 
#define PS2_CMD        11  //15
#define PS2_SEL        10  //16
#define PS2_CLK        12  //17
/****************************************************************** * 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(){
Serial.begin(115200);
delay(500);  //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 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
resetFunc();
}
if(type == 2){ //Guitar Hero Controller
ps2x.read_gamepad();          //read controller 
if(ps2x.ButtonPressed(GREEN_FRET))
Serial.println("Green Fret Pressed");
if(ps2x.ButtonPressed(RED_FRET))
Serial.println("Red Fret Pressed");
if(ps2x.ButtonPressed(YELLOW_FRET))
Serial.println("Yellow Fret Pressed");
if(ps2x.ButtonPressed(BLUE_FRET))
Serial.println("Blue Fret Pressed");
if(ps2x.ButtonPressed(ORANGE_FRET))
Serial.println("Orange Fret Pressed"); 
if(ps2x.ButtonPressed(STAR_POWER))
Serial.println("Star Power Command");
if(ps2x.Button(UP_STRUM))          //will be TRUE as long as button is pressed
Serial.println("Up Strum");
if(ps2x.Button(DOWN_STRUM))
Serial.println("DOWN Strum");
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(ORANGE_FRET)) {     // print stick value IF TRUE
Serial.print("Wammy Bar Position:");
Serial.println(ps2x.Analog(WHAMMY_BAR), DEC); 
} 
}
else { //DualShock Controller
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.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);
}
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);
}   
vibrate = ps2x.Analog(PSAB_CROSS);  //this will set the large motor vibrate speed based on how hard you press the blue (X) button
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); 
}     
}
delay(50);  
}

在IDE中编译后下载到Arduino中，打开串口监视器，如果顺利，会看到显示下列提示：

如果提示未发现控制器，那就需要检查自己的连线等是不是有问题了，我在用的时候，因为杜邦线的问题，一直提示找不到控制器，我还怀疑是不是买的手柄有问题，又拿Stm32的板子来测试，折腾了半天竟然是线的问题。

连接后，按下手柄上的各个键都会有相应提示，可以看出哪个按键定义的什么名字。
在上述代码中，左边的四个按键只是显示按键按下，不会根据力的大小输出相应数值的，如果想要，就需要修改下列代码：

上述程序第20行到23行将注释调换一下条改为：

#define pressures   true
//#define pressures   false
#define rumble      true
//#define rumble      false

这样就可以实现通过按左侧”上下左右“按键的力度，输出不同的模拟值。

2. 小车电机控制

电机：有刷直流电机
驱动器：L298n逻辑
控制器：Arduino Mega2560

程序功能实现：
– 按下START键，开始前进；
– 通过按PS2手柄左边的“上下左右”键实现前进 、后退、左转、右转。
– 按SELECT键停止；

#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手柄引脚；
#define PS2_DAT        13  //14 
#define PS2_CMD        11  //15
#define PS2_SEL        10  //16
#define PS2_CLK        12  //17
// 电机控制引脚；
#define IN1 4
#define IN2 5
#define IN3 6
#define IN4 7
//PWM控制引脚；
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;
void setup(){
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
speed =200;
Serial.begin(57600);
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. ");
// Serial.print(ps2x.Analog(1), HEX);
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 turnLeft(){
digitalWrite(IN1,HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4,HIGH);
}
void turnRight(){
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);      
}
void forward(){
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);      
}
void back(){
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);     
}
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
//start 开始运行，电机初PWM为120；
if(ps2x.Button(PSB_START))  {
Serial.println("Start is being held");
speed = 120;
analogWrite(speedPinA, speed);
analogWrite(speedPinB, speed);
forward();                  
}
// 电机正转；
if(ps2x.Button(PSB_PAD_UP)){
Serial.println("Up held this hard: ");
speed= 200;
analogWrite(speedPinA, speed);
analogWrite(speedPinB, speed);
forward();                  
}
// 电机反转；
if(ps2x.Button(PSB_PAD_DOWN)){
Serial.print("Down held this hard: ");
speed= 200;
analogWrite(speedPinA, speed);
analogWrite(speedPinB, speed);
back();                  
}
//左转； 
if(ps2x.Button(PSB_PAD_LEFT)){
Serial.println("turn left ");
analogWrite(speedPinA, speed);
analogWrite(speedPinB, 0);
turnLeft();        
}
//右转；
if(ps2x.Button(PSB_PAD_RIGHT)){
Serial.println("turn right");
analogWrite(speedPinA, 0);
analogWrite(speedPinB, speed);
turnRight();
}
// Stop
if(ps2x.Button(PSB_SELECT)){
Serial.println("stop");
speed = 0;
analogWrite(speedPinA,speed);
analogWrite(speedPinB,speed);
}
}
}

目前是拿来尝试一下，还是基于按键的实现，后面用摇杆来控制方向的速度。

3. 摇杆控制

功能实现：

  • 通过按PS2摇杆的“上下左右”移动实现前进 、后退、左转、右转。
  • 速度随摇杆位置变化而变化；

/* 功能：通过按PS2摇杆的“上下左右”移动实现前进 、后退、左转、右转。 * * 作者：lcl; */ #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手柄引脚； #define PS2_DAT  13 //14  #define PS2_CMD  11 //15 #define PS2_SEL  10 //16 #define PS2_CLK  12 //17 // 电机控制引脚； #define IN1 4 #define IN2 5 #define IN3 6 #define IN4 7 int speedPinA = 8; int speedPinB = 9; int speed; //speed =200; /****************************************************************** * 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; void setup(){ pinMode(IN1, OUTPUT); pinMode(IN2, OUTPUT); pinMode(IN3, OUTPUT); pinMode(IN4, OUTPUT); Serial.begin(57600); 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. "); // Serial.print(ps2x.Analog(1), HEX); 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 turnLeft() //左转 { digitalWrite(IN1,HIGH); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW); digitalWrite(IN4,LOW); delay(20); } void turnRight()//右转 { digitalWrite(IN1, LOW); digitalWrite(IN2, LOW); digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW); delay(20); } void forward() // 前进 { digitalWrite(IN1, HIGH); digitalWrite(IN2, LOW); digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW); delay(20); } void stop() // 停止； { digitalWrite(IN1, LOW); digitalWrite(IN2, LOW); digitalWrite(IN3, LOW); digitalWrite(IN4, LOW); delay(20); } void back() //后退 { digitalWrite(IN1, LOW); digitalWrite(IN2, HIGH); digitalWrite(IN3, LOW); digitalWrite(IN4, HIGH); } 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 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); int LY=ps2x.Analog(PSS_LY); int LX=ps2x.Analog(PSS_LX); int RY=ps2x.Analog(PSS_RY); int RX=ps2x.Analog(PSS_RX); if (LY<128) //前进 { speed = 2*(127-LY); //speed = LY; analogWrite(speedPinA, speed); analogWrite(speedPinB, speed); forward(); } //后退 if (LY>128) { speed=2*(LY-128); analogWrite(speedPinA, speed); analogWrite(speedPinB, speed); back(); } //左转 if (LX<128) { speed = 2*(127-LX); analogWrite(speedPinA, speed); analogWrite(speedPinB, speed); turnLeft(); } //右转 if (LX>128) { speed=2*(LX -128); analogWrite(speedPinA, speed); analogWrite(speedPinB, speed); turnRight(); } //如果摇杆居中 if (LY>=128 && LY<=128 && LX>=128 && LX<=128) { stop(); } } }

相关参考：
1. http://yfrobot.com/forum.php?mod=viewthread&tid=11561&highlight=ps2
2. Sony PS2游戏手柄遥控智能小车https://sanwen8.cn/p/375swwM.html
3. SONY PS2电玩手柄遥控乐高小车

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