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使用手柄遙控小車是經常要用到的，看到PS2手柄很6，就拿來嘗試一下。
PS2手柄是索尼的PlayStation2游戲機的遙控手柄，因為這款手柄性價比較高，按鍵豐富，方便擴展到其它應用中，后來有人將其通訊協議破解，使得手柄可以用在遙控其他電器上，比如遙控控制機器人小車。
最主要的是這款手柄，拿來就可以用，有人已經將其通訊協議破解了。
具體可以參考極客工坊。 其PS2X_lib庫，可以參見Github.
這種搖桿有無線的和有線的，都是連接到Arduino上，我用的是有線的。
1. 手柄測試
將庫文件放入Arduino IDE的安裝的libaries文件夾中。 然后可以使用其中的example 例程測試一下。
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中編譯后下載到Arduino中，打開串口監(jiān)視器，如果順利，會看到顯示下列提示：
如果提示未發(fā)現控制器，那就需要檢查自己的連線等是不是有問題了，我在用的時候，因為杜邦線的問題，一直提示找不到控制器，我還懷疑是不是買的手柄有問題，又拿Stm32的板子來測試，折騰了半天竟然是線的問題。
連接后，按下手柄上的各個鍵都會有相應提示，可以看出哪個按鍵定義的什么名字。
在上述代碼中，左邊的四個按鍵只是顯示按鍵按下，不會根據力的大小輸出相應數值的，如果想要，就需要修改下列代碼：
上述程序第20行到23行將注釋調換一下條改為：
#define pressures true
//#define pressures false
#define rumble true
//#define rumble false
這樣就可以實現通過按左側”上下左右“按鍵的力度，輸出不同的模擬值。
2. 小車電機控制
電機：有刷直流電機
驅動器：L298n邏輯
控制器：Arduino Mega2560
程序功能實現：
- 按下START鍵，開始前進；
- 通過按PS2手柄左邊的“上下左右”鍵實現前進 、后退、左轉、右轉。
- 按SELECT鍵停止；
#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手柄引腳；
#define PS2_DAT 13 //14
#define PS2_CMD 11 //15
#define PS2_SEL 10 //16
#define PS2_CLK 12 //17
// 電機控制引腳；
#define IN1 4
#define IN2 5
#define IN3 6
#define IN4 7
//PWM控制引腳；
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 開始運行，電機初PWM為120；
if(ps2x.Button(PSB_START)) {
Serial.println("Start is being held");
speed = 120;
analogWrite(speedPinA, speed);
analogWrite(speedPinB, speed);
forward();
}
// 電機正轉；
if(ps2x.Button(PSB_PAD_UP)){
Serial.println("Up held this hard: ");
speed= 200;
analogWrite(speedPinA, speed);
analogWrite(speedPinB, speed);
forward();
}
// 電機反轉；
if(ps2x.Button(PSB_PAD_DOWN)){
Serial.print("Down held this hard: ");
speed= 200;
analogWrite(speedPinA, speed);
analogWrite(speedPinB, speed);
back();
}
//左轉；
if(ps2x.Button(PSB_PAD_LEFT)){
Serial.println("turn left ");
analogWrite(speedPinA, speed);
analogWrite(speedPinB, 0);
turnLeft();
}
//右轉；
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);
}
}
}
目前是拿來嘗試一下，還是基于按鍵的實現，后面用搖桿來控制方向的速度。
3. 搖桿控制
功能實現：
- 通過按PS2搖桿的“上下左右”移動實現前進 、后退、左轉、右轉。
- 速度隨搖桿位置變化而變化；
/* 功能：通過按PS2搖桿的“上下左右”移動實現前進 、后退、左轉、右轉。
*
* 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手柄引腳；
#define PS2_DAT 13 //14
#define PS2_CMD 11 //15
#define PS2_SEL 10 //16
#define PS2_CLK 12 //17
// 電機控制引腳；
#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() //左轉
{
digitalWrite(IN1,HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4,LOW);
delay(20);
}
void turnRight()//右轉
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
delay(20);
}
void forward() // 前進
{
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) //前進
{
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();
}
//左轉
if (LX<128)
{
speed = 2*(127-LX);
analogWrite(speedPinA, speed);
analogWrite(speedPinB, speed);
turnLeft();
}
//右轉
if (LX>128)
{
speed=2*(LX -128);
analogWrite(speedPinA, speed);
analogWrite(speedPinB, speed);
turnRight();
}
//如果搖桿居中
if (LY>=128 && LY<=128 && LX>=128 && LX<=128)
{
stop();
}
}
}
相關參考：
1. http:///forum.php?mod=viewthread&tid=11561&highlight=ps2
2. Sony PS2游戲手柄遙控智能小車https://sanwen8.cn/p/375swwM.html
3. SONY PS2電玩手柄遙控樂高小車
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