USB PS2 Controller

//----------------------------start Arduino code--------------------------------

#include <Servo.h> // include servo headers

// using 4 motors to drive robot

#define SERVOFR 2

#define SERVOFL 3

#define SERVORR 4

#define SERVORL 5

// global variables

Servo servoFR;

Servo servoFL;

Servo servoRR;

Servo servoRL;

int message = 0; // This will hold one byte of the serial message

// played around with values that sets the servos to neutral position

// these values need to be set for each servo!!!

const int servoneutralLeft = 1515;

const int servoneutralRight = 1520;

// set neutral range for servos

const int minneutral = 1400;

const int maxneutral = 1600;

//--- Function: Setup ()

void setup()

{

    pinMode(SERVOFR, OUTPUT);

    pinMode(SERVOFL, OUTPUT);

    pinMode(SERVORR, OUTPUT);

    pinMode(SERVORL, OUTPUT);

    servoFR.attach(SERVOFR);

    servoFL.attach(SERVOFL);

    servoRR.attach(SERVORR);

    servoRL.attach(SERVORL);

    servoFR.writeMicroseconds(servoneutralLeft); // set servo to mid-point

    servoFL.writeMicroseconds(servoneutralRight); // set servo to mid-point

    servoRR.writeMicroseconds(servoneutralLeft); // set servo to mid-point

    servoRL.writeMicroseconds(servoneutralRight); // set servo to mid-point

    Serial.begin(9600); //set serial to 9600 baud rate

}

//--- Function: loop ()

void loop()

{

    // Check if there is a new message

    if (Serial.available() > 0)

    {

        message = Serial.read(); // Put the serial input into the message

        int val=message; // val to match pwm delay in ms

        int tempval=0; // temp storage

        // we can send values from 0 to 255 to the arduino.

        // both fadders are set up to go from 0 to 1.

        // left servo: 0-127, right servo 128-255. should be enough resolution

        int minpulse = 127*8/2; // max storage is 0-255.

        // Begin LEFT servo code

        if (val <= 127)

        {

            // scale everything from 1000 to 2000

            tempval = val*8 + servoneutralLeft - minpulse;

            if (tempval > minneutral && tempval < maxneutral)

            {

                // Creates dead zone at midpoint of the

                servoFL.writeMicroseconds(servoneutralLeft); // fader range (neutral) and trims input to neutral

                 servoRL.writeMicroseconds(servoneutralLeft); // fader range (neutral) and trims input to neutral 

             }

        else

        {

            servoFL.writeMicroseconds(tempval);

            servoRL.writeMicroseconds(tempval); 

        }

       } // End LEFT servo code

        // Begin RIGHT servo code

        if (val > 128)

        {

            // scale everything from 1000 to 2000

            tempval = val*8 + servoneutralRight - minpulse - 128*8;

            if (tempval > minneutral && tempval < maxneutral)

            {

                servoFR.writeMicroseconds(servoneutralRight);

                servoRR.writeMicroseconds(servoneutralRight); 

                // fader range (neutral) and trims input to neutral value

            }

        else

        {

            servoFR.writeMicroseconds(tempval);

            servoRR.writeMicroseconds(tempval); 

        }

       } // End RIGHT servo code 

    }

}

//----------------------------end Arduino code--------------------------------

//---------------------------start processing code------------------------------------

import procontroll.*;

import java.io.*;

ControllIO controll;

void setup(){

  size(400,400);

  controll = ControllIO.getInstance(this);

  controll.printDevices();

  for(int i = 0; i < controll.getNumberOfDevices(); i++)

  {

    ControllDevice device = controll.getDevice(i);

    println(device.getName()+" has:");

    println(" " + device.getNumberOfSliders() + " sliders");

    println(" " + device.getNumberOfButtons() + " buttons");

    println(" " + device.getNumberOfSticks() + " sticks");

    device.printSliders();

    device.printButtons();

    device.printSticks();

  }

}

//---------------------------end processing code------------------------------------

//---------------------------start processing code------------------------------------

import procontroll.*;

import net.java.games.input.*;

import processing.serial.*; // Load serial library

Serial arduinoPort; // Set arduinoPort as serial connection

ControllIO controllIO;

ControllDevice joypad;

ControllStick stick1;

ControllStick stick2;

int val1 = 0; // Fader 1 value

int val2 = 0; // Fader 2 value

//--- Function: setup

void setup()

{

  arduinoPort = new Serial(this, Serial.list()[1], 9600); // Set arduinoPort to 9600 baud

  controllIO = ControllIO.getInstance(this);

  joypad = controllIO.getDevice("Logitech Dual Action");

  stick1 = joypad.getStick(0);

  stick2 = joypad.getStick(1);

}

//--- Function: draws servo on/off

void draw()

{

  val1 = (int) (stick1.getY() * 63.5 + 63.5);

  val2 = (int) (-stick2.getY() * 63.5 + 191.5);

  arduinoPort.write(val1); // Sends val1 to Arduino, left servo

  arduinoPort.write(val2); // Sends val2 to Arduino, right servo

}

//---------------------------end processing code------------------------------------