PS4 + esp32 

#include <PS4Controller.h>

#include <Wire.h>

#include <SPI.h>

#define DR1 16 //2

#define DR2  17 //15

#define PWMR   4  //13

/////////////////////////////////

#define DL1  15 //16  

#define DL2  2 //17  

#define PWML 13 //4

void setup() {

  pinMode(DL1, OUTPUT);

  pinMode(DL2, OUTPUT);

  pinMode(PWML, OUTPUT);

  pinMode(DR1, OUTPUT);

  pinMode(DR2, OUTPUT);

  pinMode(PWMR, OUTPUT);

  Serial.begin(115200);

  PS4.begin("10:06:1c:f4:d5:2e");

  Serial.println("Ready.");

}

void loop() {

  // Below has all accessible outputs from the controller

  if (PS4.isConnected()) {

    run(0, 0);

      if (PS4.Right()) run(180,-180);

    if (PS4.Down())  run(-180,-180);

    if (PS4.Up())  run(180,180);

    if (PS4.Left())  run(-180,180);

    if (PS4.Square()) run(-250,250);

    if (PS4.Cross()) run(-250,-250);

    if (PS4.Circle()) run(250,-250);

    if (PS4.Triangle()) run(250,250);    

    delay(200);

  }

}

void run(int spl, int spr)   // ประกาศฟังก์ชัน run(กำลังมอเตอร์ซ้าาย,กำลังมอเตอร์ขวา);

{

  if (spl > 0)  {

    digitalWrite(DL1, LOW);

    digitalWrite(DL2, HIGH);

    analogWrite(PWML, spl);

  }

  else if (spl < 0)

  { digitalWrite(DL1, HIGH);

    digitalWrite(DL2, LOW);

    analogWrite(PWML, -spl);

  }

  else

  {

    digitalWrite(DL1, HIGH);

    digitalWrite(DL2, HIGH);

  }

  //////////////////////////////////////

  if (spr > 0)  {

    digitalWrite(DR1, LOW);

    digitalWrite(DR2, HIGH);

    analogWrite(PWMR, spr);

  }

  else if (spr < 0)

  {

    digitalWrite(DR1, HIGH);

    digitalWrite(DR2, LOW);

    analogWrite(PWMR, -spr);

  }

  else

  {

    digitalWrite(DR1, HIGH);

    digitalWrite(DR2, HIGH);

  }

}

#include <PS4Controller.h>

#include <Wire.h>

#include <SPI.h>

#include <ESP32Servo.h>

#define DR1 16 //2

#define DR2  17 //15

#define PWMR   4  //13

/////////////////////////////////

#define DL1  15 //16  

#define DL2  2 //17  

#define PWML 13 //4

#define pos1min 0       //ค่าตำแหน่งน้อยสุดที่ยอมให้เซอโว 1 ทำงาน (ตัวยก)

#define pos1max 100      //ค่าตำแหน่งมากสุดที่ยอมให้เซอโว 1 ทำงาน  (ตัวยก)

#define pos2min 0       //ค่าตำแหน่งน้อยสุดที่ยอมให้เซอโว 2 ทำงาน (ตัวหนีบ)

#define pos2max 100     //ค่าตำแหน่งมากสุดที่ยอมให้เซอโว 2 ทำงาน (ตัวหนีบ)

int ss1 = 18;  // เปิดใช้งาน s2 ที่พอร์ต 3

int ss2 = 4;  // เปิดใช้งาน s3 ที่พอร์ต

Servo sv1;     // ประกาศการใช้งาน sv1

Servo sv2;

int pos1 = 0;

int pos2 = 0;

int posL = 0;

int posK = 0;

void setup() {

  pinMode(DL1, OUTPUT);

  pinMode(DL2, OUTPUT);

  pinMode(PWML, OUTPUT);

  pinMode(DR1, OUTPUT);

  pinMode(DR2, OUTPUT);

  pinMode(PWMR, OUTPUT);

   sv1.attach(ss1); // เรียกใช้งานเตรียมตอบสนองเซอร์โว sv1

  sv2.attach(ss2); // เรียกใช้งานเตรียมตอบสนองเซอร์โว sv2

  sv1.write(pos1);

  sv2.write(pos2);  

  Serial.begin(115200);

  PS4.begin("10:06:1c:f4:d5:2e"); /// กรอกmacAddress

  Serial.println("Ready.");

}

void loop() {

  // Below has all accessible outputs from the controller

  if (PS4.isConnected()) {

    run(0, 0);

      if (PS4.Right()) run(180,-180);

    if (PS4.Down())  run(-180,-180);

    if (PS4.Up())  run(180,180);

    if (PS4.Left())  run(-180,180);

    if (PS4.Square()) run(-250,250);

    if (PS4.Cross()) run(-250,-250);

    if (PS4.Circle()) run(250,-250);

    if (PS4.Triangle()) run(250,250);    

    if (PS4.UpRight()){ Serial.println("Up Right");}

    if (PS4.DownRight()){ Serial.println("Down Right");}

    if (PS4.UpLeft()) {Serial.println("Up Left");}

    if (PS4.DownLeft()) { Serial.println("Down Left");}

    if (PS4.L1()) {sv1.write(pos1=pos1+5);}

    if (PS4.R1()){ sv2.write(pos2=pos2+5); }

    if (PS4.Share()) {Serial.println("Share Button");}

    if (PS4.Options()){ Serial.println("Options Button");}

    if (PS4.L3()) {Serial.println("L3 Button");}

    if (PS4.R3()){ Serial.println("R3 Button");}

    if (PS4.PSButton()){ Serial.println("PS Button");}

    if (PS4.Touchpad()) {Serial.println("Touch Pad Button");}

    if (PS4.L2()) {

      sv1.write(pos1=pos1+5);

    }

    if (PS4.R2()) {

                  sv2.write(pos2=pos2-5);    }

    if (PS4.LStickX()) {

      Serial.printf("Left Stick x at %d\n", PS4.LStickX());

    }

    if (PS4.LStickY()) {

      Serial.printf("Left Stick y at %d\n", PS4.LStickY());

    }

    if (PS4.RStickX()) {

      Serial.printf("Right Stick x at %d\n", PS4.RStickX());

    }

    if (PS4.RStickY()) {

      Serial.printf("Right Stick y at %d\n", PS4.RStickY());

    }

   if (PS4.Charging()) Serial.println("The controller is charging");

    if (PS4.Audio()) Serial.println("The controller has headphones attached");

    if (PS4.Mic()) Serial.println("The controller has a mic attached");

    delay(200);

  }

}

void run(int spl, int spr)   // ประกาศฟังก์ชัน run(กำลังมอเตอร์ซ้าาย,กำลังมอเตอร์ขวา);

{

  if (spl > 0)  {

    digitalWrite(DL1, LOW);

    digitalWrite(DL2, HIGH);

    analogWrite(PWML, spl);

  }

  else if (spl < 0)

  { digitalWrite(DL1, HIGH);

    digitalWrite(DL2, LOW);

    analogWrite(PWML, -spl);

  }

  else

  {

    digitalWrite(DL1, HIGH);

    digitalWrite(DL2, HIGH);

  }

  //////////////////////////////////////

  if (spr > 0)  {

    digitalWrite(DR1, LOW);

    digitalWrite(DR2, HIGH);

    analogWrite(PWMR, spr);

  }

  else if (spr < 0)

  {

    digitalWrite(DR1, HIGH);

    digitalWrite(DR2, LOW);

    analogWrite(PWMR, -spr);

  }

  else

  {

    digitalWrite(DR1, HIGH);

    digitalWrite(DR2, HIGH);

  }

}

#include <PS4Controller.h>

#include <esp_bt_main.h>

#include <esp_bt_device.h>

void setup()

{

  Serial.begin(115200);

  PS4.begin();

  const uint8_t* address = esp_bt_dev_get_address();

  char str[100];

  sprintf(str, "ESP32's Bluetooth MAC address is - %02x:%02x:%02x:%02x:%02x:%02x", address[0],address[1],address[2],address[3],address[4],address[5]);

  Serial.println(str);

}

void loop()

{

}