PS2手柄按键测试

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arduino的PS2手柄控制测试：

 #include <PS2X_lib.h>
//电机引脚
#define PWMA 12 //A电机转速
#define DIRA1 34 
#define DIRA2 35 //A电机方向
#define PWMB 8 //B电机转速
#define DIRB1 37 
#define DIRB2 36 //B电机方向
#define PWMC 9 //C电机转速
#define DIRC1 43 
#define DIRC2 42 //C电机方向
#define PWMD 5 //D电机转速
#define DIRD1 26 
#define DIRD2 27 //D电机方向
//PS2控制器
#define PS2_DAT 52 //14 
#define PS2_CMD 51 //15
#define PS2_SEL 53 //16
#define PS2_CLK 50 //17
PS2X ps2x; // create PS2 Controller Class
#define MOTORA_FORWARD(pwm) do{digitalWrite(DIRA1,LOW); digitalWrite(DIRA2,HIGH);analogWrite(PWMA,pwm);}while(0)
#define MOTORA_STOP(x) do{digitalWrite(DIRA1,LOW); digitalWrite(DIRA2,LOW); analogWrite(PWMA,0);}while(0)
#define MOTORA_BACKOFF(pwm) do{digitalWrite(DIRA1,HIGH);digitalWrite(DIRA2,LOW); analogWrite(PWMA,pwm);}while(0)
#define MOTORB_FORWARD(pwm) do{digitalWrite(DIRB1,LOW); digitalWrite(DIRB2,HIGH);analogWrite(PWMB,pwm);}while(0)
#define MOTORB_STOP(x) do{digitalWrite(DIRB1,LOW); digitalWrite(DIRB2,LOW); analogWrite(PWMB,0);}while(0)
#define MOTORB_BACKOFF(pwm) do{digitalWrite(DIRB1,HIGH);digitalWrite(DIRB2,LOW); analogWrite(PWMB,pwm);}while(0)
#define MOTORC_FORWARD(pwm) do{digitalWrite(DIRC1,LOW); digitalWrite(DIRC2,HIGH);analogWrite(PWMC,pwm);}while(0)
#define MOTORC_STOP(x) do{digitalWrite(DIRC1,LOW); digitalWrite(DIRC2,LOW); analogWrite(PWMC,0);}while(0)
#define MOTORC_BACKOFF(pwm) do{digitalWrite(DIRC1,HIGH);digitalWrite(DIRC2,LOW); analogWrite(PWMC,pwm);}while(0)
#define MOTORD_FORWARD(pwm) do{digitalWrite(DIRD1,LOW); digitalWrite(DIRD2,HIGH);analogWrite(PWMD,pwm);}while(0)
#define MOTORD_STOP(x) do{digitalWrite(DIRD1,LOW); digitalWrite(DIRD2,LOW); analogWrite(PWMD,0);}while(0)
#define MOTORD_BACKOFF(pwm) do{digitalWrite(DIRD1,HIGH);digitalWrite(DIRD2,LOW); analogWrite(PWMD,pwm);}while(0)
#define SERIAL Serial
#define MAX_PWM 200
#define MIN_PWM 100
int Motor_PWM = 130;
//控制电机运动 宏定义
// ↑A-----B↑ 
// | ↑ |
// | | |
// ↑C-----D↑
void ADVANCE(){ 

MOTORA_FORWARD(Motor_PWM);MOTORB_FORWARD(Motor_PWM);    
MOTORC_FORWARD(Motor_PWM);MOTORD_FORWARD(Motor_PWM);    
}
// ↓A-----B↓ 
// | | |
// | ↓ |
// ↓C-----D↓
void BACK(){ 

MOTORA_BACKOFF(Motor_PWM);MOTORB_BACKOFF(Motor_PWM);
MOTORC_BACKOFF(Motor_PWM);MOTORD_BACKOFF(Motor_PWM);
}
// =A-----B↑ 
// | ↖ |
// | ↖ |
// ↑C-----D=
void LEFT_1(){ 

MOTORA_FORWARD(Motor_PWM);MOTORB_STOP(Motor_PWM);
MOTORC_STOP(Motor_PWM);MOTORD_FORWARD(Motor_PWM);
}
// ↓A-----B↑ 
// | ← |
// | ← |
// ↑C-----D↓
void LEFT_2(){ 

MOTORA_BACKOFF(Motor_PWM);MOTORB_FORWARD(Motor_PWM);
MOTORC_FORWARD(Motor_PWM);MOTORD_BACKOFF(Motor_PWM);
}
// ↓A-----B= 
// | ↙ |
// | ↙ |
// =C-----D↓
void LEFT_3(){ 

MOTORA_BACKOFF(Motor_PWM);MOTORB_STOP(Motor_PWM);
MOTORC_STOP(Motor_PWM);MOTORD_BACKOFF(Motor_PWM);
}
// ↑A-----B= 
// | ↗ |
// | ↗ |
// =C-----D↑
void RIGHT_1(){ 

MOTORA_FORWARD(Motor_PWM);MOTORB_STOP(Motor_PWM);
MOTORC_STOP(Motor_PWM);MOTORD_FORWARD(Motor_PWM);
}
// ↑A-----B↓ 
// | → |
// | → |
// ↓C-----D↑
void RIGHT_2(){ 

MOTORA_FORWARD(Motor_PWM);MOTORB_BACKOFF(Motor_PWM);
MOTORC_BACKOFF(Motor_PWM);MOTORD_FORWARD(Motor_PWM);
}
// =A-----B↓ 
// | ↘ |
// | ↘ |
// ↓C-----D=
void RIGHT_3(){ 

MOTORA_STOP(Motor_PWM);MOTORB_BACKOFF(Motor_PWM);
MOTORC_BACKOFF(Motor_PWM);MOTORD_STOP(Motor_PWM);
}
// =A-----B= 
// | = |
// | = |
// =C-----D=
void STOP(){ 

MOTORA_STOP(Motor_PWM);MOTORB_STOP(Motor_PWM);
MOTORC_STOP(Motor_PWM);MOTORD_STOP(Motor_PWM);
}
void UART_Control(){ 

char Uart_Date=0;
if(SERIAL.available())
{ 

Uart_Date = SERIAL.read();
}
switch(Uart_Date)
{ 

case 'A':  ADVANCE();              break;
case 'B':  RIGHT_1();              break;
case 'C':  RIGHT_2();              break;
case 'D':  RIGHT_3();              break;
case 'E':  BACK();                 break;
case 'F':  LEFT_3();               break;
case 'G':  LEFT_2();               break;
case 'H':  LEFT_1();               break;
case 'Z':  STOP();                 break;
case 'L':  Motor_PWM = 240;        break;
case 'M':  Motor_PWM = 130;        break;
}
}
void IO_init(){ 

pinMode(PWMA, OUTPUT);
pinMode(DIRA1, OUTPUT);
pinMode(DIRA2, OUTPUT);
pinMode(PWMB, OUTPUT);
pinMode(DIRB1, OUTPUT);
pinMode(DIRB2, OUTPUT);
pinMode(PWMC, OUTPUT);
pinMode(DIRC1, OUTPUT);
pinMode(DIRC2, OUTPUT);
pinMode(PWMD, OUTPUT);
pinMode(DIRD1, OUTPUT);
pinMode(DIRD2, OUTPUT);
STOP();
}
void setup(){ 

int error,type;
Serial.begin(9600);
delay(300) ;//added delay to give wireless ps2 module some time to startup, before configuring it
//CHANGES for v1.6 HERE!!! **************PAY ATTENTION*************
ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, false, false);
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;
}
IO_init();
}
void loop() { 

byte vibrate = 0;
UART_Control();//串口接收处理 
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");
Motor_PWM = 90;
ADVANCE();
}
// 电机正转；
if (ps2x.Button(PSB_PAD_UP)) { 

Serial.println("Up held this hard: ");
Motor_PWM = 120;
ADVANCE();
}
// 电机反转；
if (ps2x.Button(PSB_PAD_DOWN)) { 

Serial.println("Down held this hard: ");
Motor_PWM = 120;
BACK();
}
//左转；
if (ps2x.Button(PSB_PAD_LEFT)) { 

Serial.println("turn left ");
Motor_PWM = 120;//200
LEFT_1();
}
//右转；
if (ps2x.Button(PSB_PAD_RIGHT)) { 

Serial.println("turn right");
Motor_PWM = 120;//200
RIGHT_1();
}
// Stop
if (ps2x.Button(PSB_SELECT)) { 

Serial.println("stop");
STOP();
}
// 左平移
if (ps2x.Button(PSB_PINK)) { 

Serial.println("motor_pmove_left");
LEFT_2();
}
// 右平移
if (ps2x.Button(PSB_RED)) { 

Serial.println("motor_pmove_right");
RIGHT_2();
}
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");        
}
// 摇杆测试
int LX,LY,RX,RY;
LY=ps2x.Analog(PSS_LY);  //中间值127
LX=ps2x.Analog(PSS_LX);  //中间值128
RY=ps2x.Analog(PSS_RY);  //中间值127
RX=ps2x.Analog(PSS_RX);  //中间值128
Serial.print("Stick Values:");
Serial.print(LY);
Serial.print(LX);
Serial.print(RY);
Serial.println(RX);
delay(20);
}