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基于PS2手柄的Arduino遥控小车

发布时间:2022/10/5 17:33:42

前言

本文利用PS2手柄和Arduino开发板制作了一个简易的遥控小车,利用蓝牙进行通信,可以实现前后左右的移动。(原理掌握之后可以自己拓展相关功能)

一、零件

1.Arduino UNO开发板:

ArduinoUNO是ArduinoUSB接口系列的最新版本,作为Arduino平台的参考标准模板。UNO的处理器核心是ATmega328,同时具有14路数字输入/输出口(其中6路可作为PWM输出),6路模拟输入,一个16MHz晶体振荡器,一个USB口,一个电源插座,一个ICSPheader和一个复位按钮。
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2.PS2手柄与接收器:

PS2 手柄由手柄与接收器两部分组成,手柄主要负责发送按键信息;接收器与单片机相连,用于接收手柄发来的信息,并传递给单片机,单片机也可通过接收器,向手柄发送命令,配置手柄的发送模式。
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接收器的引脚功能如下图所示:
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特别需要提醒的是:按下遥控器的 MODE 键,手柄可配置成“红灯模式”或者“绿灯模式”,当遥控器侧面的 “MODE LED”亮为红灯模式,反之为绿灯模式,“红灯模式”和“绿灯模式”的主要区别是摇杆模拟值得输出。

3.L298N驱动模块:

L298N,是一款接受高电压的电机驱动器,直流电机和步进电机都可以驱动。一片驱动芯片可同时控制两个直流减速电机做不同动作,在6V到46V的电压范围内,提供2安培的电流,并且具有过热自断和反馈检测功能。L298N可对电机进行直接控制,通过主控芯片的I/O输入对其控制电平进行设定,就可为电机进行正转反转驱动,操作简单、稳定性好,可以满足直流电机的大电流驱动条件。

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4.面包板

面包板是由于板子上有很多小插孔,专为电子电路的无焊接实验设计制造的。由于各种电子元器件可根据需要随意插入或拔出,免去了焊接,节省了电路的组装时间,而且元件可以重复使用,所以非常适合电子电路的组装、调试和训练。

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5.小车

由亚克力板、直流电机、小轮胎、电池盒、电池等搭建的小车。
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二、代码

#include <PS2X_lib.h>  //for v1.6#define PS2_DAT        13  //14    
#define PS2_CMD        11  //15
#define PS2_SEL        10  //16
#define PS2_CLK        12  //17int input1 = 5; //PIN 5(PWM)
int input2 = 6; //PIN 6(PWM)
int input3 = 9; //PIN 9(PWM)
int input4 = 3; //PIN 3(PWM)#define pressures   true
#define rumble      truePS2X ps2x; // create PS2 Controller Classint error = 0;
byte type = 0;
byte vibrate = 0;// Reset func 
void (* resetFunc) (void) = 0;void setup(){Serial.begin(9600);delay(500);  //added delay to give wireless ps2 module some time to startup, before configuring iterror = 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 ");elseSerial.println("false");Serial.print("rumble = ");if (rumble)Serial.println("true)");elseSerial.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;}
pinMode(input1,OUTPUT);
pinMode(input2,OUTPUT);                                                    
pinMode(input3,OUTPUT); 
pinMode(input4,OUTPUT);
}void STOP(){digitalWrite(input1,LOW);digitalWrite(input2,LOW);  digitalWrite(input3,LOW);digitalWrite(input4,LOW);  
}//停止函数void RUN(){digitalWrite(input1,HIGH); digitalWrite(input2,LOW); digitalWrite(input3,LOW);digitalWrite(input4,HIGH); analogWrite(input1,250);analogWrite(input4,250);
}//可调速的前进函数void LEFT(){digitalWrite(input1,HIGH); digitalWrite(input2,LOW);  digitalWrite(input3,HIGH); digitalWrite(input4,LOW); analogWrite(input1,200);analogWrite(input3,200);
}//可调速的左转函数void RIGHT(){digitalWrite(input1,LOW);digitalWrite(input2,HIGH);  digitalWrite(input3,LOW);digitalWrite(input4,HIGH); analogWrite(input2,200);analogWrite(input4,200);
}//可调速的右转函数void BACK(){digitalWrite(input1,LOW); digitalWrite(input2,HIGH); digitalWrite(input3,HIGH);digitalWrite(input4,LOW); analogWrite(input2,250);analogWrite(input3,250);
}//可调速的后退函数
void loop() {if(error == 1){ //skip loop if no controller foundresetFunc();}if(type == 2){ //Guitar Hero Controllerps2x.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 pressedSerial.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 pressedSerial.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 TRUESerial.print("Wammy Bar Position:");Serial.println(ps2x.Analog(WHAMMY_BAR), DEC); } }else { //DualShock Controllerps2x.read_gamepad(false, vibrate); //read controller and set large motor to spin at 'vibrate' speedif(ps2x.Button(PSB_START))         //will be TRUE as long as button is pressedSerial.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 pressedSerial.print("Up held this hard: ");RUN();Serial.println(ps2x.Analog(PSAB_PAD_UP), DEC);}if(ps2x.Button(PSB_PAD_RIGHT)){Serial.print("Right held this hard: ");LEFT();Serial.println(ps2x.Analog(PSAB_PAD_RIGHT), DEC);}if(ps2x.Button(PSB_PAD_LEFT)){Serial.print("LEFT held this hard: ");RIGHT();Serial.println(ps2x.Analog(PSAB_PAD_LEFT), DEC);}if(ps2x.Button(PSB_PAD_DOWN)){Serial.print("DOWN held this hard: ");BACK();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) buttonif (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");   STOP();      }if(ps2x.ButtonPressed(PSB_CIRCLE))               //will be TRUE if button was JUST pressedSerial.println("Circle just pressed");if(ps2x.NewButtonState(PSB_CROSS))               //will be TRUE if button was JUST pressed OR releasedSerial.println("X just changed");if(ps2x.ButtonReleased(PSB_SQUARE))              //will be TRUE if button was JUST releasedSerial.println("Square just released");     if(ps2x.Button(PSB_L1) || ps2x.Button(PSB_R1)) { //print stick values if either is TRUESerial.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);  
}

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