PS2手柄按键测试

 #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);
}