無畏戰車

程式碼:

#include <PS2X_lib.h>      

#define PS2_DAT        12      

#define PS2_CMD        11  

#define PS2_SEL        10  

#define PS2_CLK        9  

#define leftm1     3

#define leftm2     4

#define rightm1    5

#define rightm2    6

#define left_EN    2

#define right_EN   7

int LX = 0;                  

int LY = 0;

int RX = 0;

int RY = 0;

#define pressures   true

#define rumble      true

PS2X ps2x; 

int error = 0;

byte type = 0;

byte vibrate = 0;

void setup() {

  Serial.begin(9600);

  pinMode(leftm1,  OUTPUT);

  pinMode(leftm2,  OUTPUT);

  pinMode(rightm1, OUTPUT);

  pinMode(rightm2, OUTPUT);

  pinMode(left_EN, OUTPUT);

  pinMode(right_EN, OUTPUT);

  digitalWrite(left_EN, LOW);

  digitalWrite(right_EN, LOW);

  delay(300);  

  error = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);

  if (error == 0) {

    Serial.print("Found Controller, configured successful ");

  }

  else if (error == 1)

    Serial.print("No controller found, check wiring, see readme.txt to enable debug. visit www.billporter.info for troubleshooting tips");

  else if (error == 2)

    Serial.print("Controller found but not accepting commands. see readme.txt to enable debug. Visit www.billporter.info for troubleshooting tips");

  else if (error == 3)

    Serial.print("Controller refusing to enter Pressures mode, may not support it. ");

    Serial.print(ps2x.Analog(1), HEX);

  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;

  }

}

void loop() {

  ps2x.read_gamepad(false, vibrate); 

delay(50);

  if (ps2x.Button(PSB_L1))

  {

    LY = ps2x.Analog(PSS_LY);                     

    LX = ps2x.Analog(PSS_LX);

  }

  if (ps2x.Button(PSB_R1))

  {

    RY = ps2x.Analog(PSS_RY);

    RX = ps2x.Analog(PSS_RX);

  }

  if (LY > 200 || RY > 200)                       

  {

    REV();

  }

  if (LY < 100 || RY < 100)

  {

    forward();

  }

  if (LX < 100 || RX < 100)

  {

    left();

  }

  if (LX > 200 || RX > 200)

  {

    right();

  }

  if(LX == 128 && LY == 128 && RX == 128 && RY == 128)

  {

    waithere();

  }

LY = LX = 128;         

RY = RX = 128;         

}

void forward()

{

  //Serial.print("forward");

  digitalWrite(left_EN, HIGH);

  digitalWrite(right_EN, HIGH);

  digitalWrite(leftm1, HIGH);

  digitalWrite(leftm2, LOW);

  digitalWrite(rightm1, HIGH);

  digitalWrite(rightm2, LOW);

}

void REV()

{

  digitalWrite(left_EN, HIGH);

  digitalWrite(right_EN, HIGH);

  digitalWrite(leftm1, LOW);

  digitalWrite(leftm2, HIGH);

  digitalWrite(rightm1, LOW);

  digitalWrite(rightm2, HIGH);

}

void left()

{

  digitalWrite(left_EN, LOW);

  digitalWrite(right_EN, HIGH);

  digitalWrite(leftm1, LOW);

  digitalWrite(leftm2, LOW);

  digitalWrite(rightm1, HIGH);

  digitalWrite(rightm2, LOW);

}

void right()

{

  digitalWrite(left_EN, HIGH);

  digitalWrite(right_EN, LOW);

  digitalWrite(rightm1, LOW);

  digitalWrite(rightm2, LOW);

  digitalWrite(leftm1, HIGH);

  digitalWrite(leftm2, LOW);

}

void waithere()

{

  digitalWrite(left_EN, LOW);

  digitalWrite(right_EN, LOW);

  digitalWrite(rightm1, LOW);

  digitalWrite(rightm2, LOW);

  digitalWrite(leftm1, LOW);

  digitalWrite(leftm2, LOW);                                                        

}