今天测试了一下无线手柄控制电机转向的改变
1: #include <PS2X_lib.h> //for v1.6
2: #include <Stepper.h>
3:
4: #define PS2_DAT 13 //14
5: #define PS2_CMD 11 //15
6: #define PS2_SEL 10 //16
7: #define PS2_CLK 12 //17
8:
9: #define pressures true
10: //#define pressures false
11: #define rumble true
12: //#define rumble false
13:
14: PS2X ps2x; // create PS2 Controller Class
15:
16:
17: int error = 0;
18: byte type = 0;
19: byte vibrate = 0;
20: int stepsPerRevolution = 200;
21:
22: Stepper myStepper(stepsPerRevolution,9,7,8,6);
23:
24: void setup(){
25:
26: myStepper.setSpeed(60);
27: Serial.begin(57600);
28:
29: delay(300); //added delay to give wireless ps2 module some time to startup, before configuring it
30:
31: error = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);
32:
33: if(error == 0){
34: Serial.print("Found Controller, configured successful ");
35: Serial.print("pressures = ");
36: if (pressures)
37: Serial.println("true ");
38: else
39: Serial.println("false");
40: Serial.print("rumble = ");
41: if (rumble)
42: Serial.println("true)");
43: else
44: Serial.println("false");
45: }
46: else if(error == 1)
47: Serial.println("No controller found, check wiring, see readme.txt to enable debug. ");
48:
49: else if(error == 2)
50: Serial.println("Controller found but not accepting commands.");
51:
52: else if(error == 3)
53: Serial.println("Controller refusing to enter Pressures mode, may not support it. ");
54:
55: }
56:
57: void loop() {
58: if(error == 1) //skip loop if no controller found
59: return;
60:
61: ps2x.read_gamepad(false, vibrate); //read controller and set large motor to spin at 'vibrate' speed
62:
63: if(ps2x.Button(PSB_START)) //will be TRUE as long as button is pressed
64: Serial.println("Start is being held");
65: if(ps2x.Button(PSB_SELECT))
66: Serial.println("Select is being held");
67:
68: if(ps2x.Button(PSB_PAD_UP)) { //will be TRUE as long as button is pressed
69: Serial.print("Up held this hard: ");
70: Serial.println(ps2x.Analog(PSAB_PAD_UP), DEC);
71: }
72: if(ps2x.Button(PSB_PAD_RIGHT)){
73: stepsPerRevolution = -200;
74: Serial.println("clockwise");
75: }
76: if(ps2x.Button(PSB_PAD_LEFT)){
77: stepsPerRevolution = 200;
78: Serial.println("counterclockwise");
79: }
80: if(ps2x.Button(PSB_PAD_DOWN)){
81: Serial.print("DOWN held this hard: ");
82: Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);
83: }
84:
85: vibrate = ps2x.Analog(PSAB_CROSS); //this will set the large motor vibrate speed based on how hard you press the blue (X) button
86: if (ps2x.NewButtonState()) { //will be TRUE if any button changes state (on to off, or off to on)
87: if(ps2x.Button(PSB_L3))
88: Serial.println("L3 pressed");
89: if(ps2x.Button(PSB_R3))
90: Serial.println("R3 pressed");
91: if(ps2x.Button(PSB_L2))
92: Serial.println("L2 pressed");
93: if(ps2x.Button(PSB_R2))
94: Serial.println("R2 pressed");
95: if(ps2x.Button(PSB_TRIANGLE))
96: Serial.println("Triangle pressed");
97: }
98:
99: if(ps2x.NewButtonState(PSB_CIRCLE)) //will be TRUE if button was JUST pressed
100: Serial.println("Circle just pressed");
101: if(ps2x.NewButtonState(PSB_CROSS)) //will be TRUE if button was JUST pressed OR released
102: Serial.println("X just changed");
103: if(ps2x.ButtonReleased(PSB_SQUARE)) //will be TRUE if button was JUST released
104: Serial.println("Square just released");
105:
106: if(ps2x.Button(PSB_L1) || ps2x.Button(PSB_R1)) { //print stick values if either is TRUE
107: Serial.print("Stick Values:");
108: Serial.print(ps2x.Analog(PSS_LY), DEC); //Left stick, Y axis. Other options: LX, RY, RX
109: Serial.print(",");
110: Serial.print(ps2x.Analog(PSS_LX), DEC);
111: Serial.print(",");
112: Serial.print(ps2x.Analog(PSS_RY), DEC);
113: Serial.print(",");
114: Serial.println(ps2x.Analog(PSS_RX), DEC);
115: }
116:
117: myStepper.step(stepsPerRevolution);
118: }
当没有加入电机的代码的时候手柄的反应很快，能马上识别按钮，但是当我加入
1: myStepper.step(stepsPerRevolution);
以后，必须长按按钮才能改变方向，这个要好好研究一下
另外，当我打开串口监视器时电机才转，搞不清为什么，不知道如果用电池给Arduino供电时会出现什么情况。