Carrinho de controle remoto PS2

Carrinho de controle remoto baseado no site https://acoptex.com/project/299/basics-project-040c-how-to-build-the-4wd-smart-robot-car-part-3-wieless-ps2-controller-l298n-h-at-lex-c/

lib necessária (link) | programa base (link)

/*

ALTERADO DE:

Project: 4WD robot car, L298N dual h-bridge motor driver module, 4 DC motors withor without speed control (constant maximum speed),wireless PS2 controller

Function: 4WD robot car movements controlled with wireless PS2 controller

Email: info@acoptex.com

Website: http://acoptex.com

*/

//************************************************************

#include <PS2X_lib.h>//include library code

//************************************************************

const int PS2_CLK = 8;//clock

const int PS2_CMD = 12;//command

const int PS2_ATT = 11;//attention

const int PS2_DAT = 13;//data

/*

Select modes of PS2 controller:

- pressures = analog reading of push-butttons

- rumble = motor rumbling

uncomment 1 of the lines for each mode selection

*/

//const int rumble = false;

//const int pressures = false;

const int pressures = true;

const int rumble = true;

PS2X ps2x; //create PS2 Controller object

byte PS2 = 0;

int fspeed;//forward speed

//DC motors 3 and 4:

const int in1 = 4;//motor direction control port

const int in2 = 5;//motor direction control port

const int enA = 9;//motor speed control

//DC motors 1 and 2:

const int in3 = 6;//motor direction control port

const int in4 = 7;//motor direction control port

const int enB = 10;//motor speed control

//************************************************************

void setup() {

PS2 = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_ATT, PS2_DAT, pressures, rumble);

//sets all DC motors pins as OUTPUTs

pinMode(in1, OUTPUT);

pinMode(in2, OUTPUT);

pinMode(in3, OUTPUT);

pinMode(in4, OUTPUT);

pinMode(enA, OUTPUT);

pinMode(enB, OUTPUT);

//pinMode(8, OUTPUT); //Forward lights

//pinMode(2, OUTPUT); //Back lights

pinMode(15, OUTPUT); //Left turn

pinMode(14, OUTPUT); //Right turn

//pinMode(A2, OUTPUT); //Buzzer

}

void loop() {

ps2x.read_gamepad();

if (ps2x.Analog(PSS_LY) == 128) analogWrite(enA, 0);

if (ps2x.Analog(PSS_LY) == 128) analogWrite(enB, 0);

//if(ps2x.ButtonPressed(PSB_L1)) digitalWrite(8, HIGH);//Turn on forward lights

//if(ps2x.ButtonPressed(PSB_L2)) digitalWrite(8, LOW);//Turn off forward lights

//if(ps2x.ButtonPressed(PSB_R1)) digitalWrite(A2, HIGH);//Turn on buzzer

//if(ps2x.ButtonPressed(PSB_R2)) digitalWrite(A2, LOW);//Turn off buzzer

if (ps2x.Analog(PSS_LY) > 128) { //MOVE BACK

fspeed = map(ps2x.Analog(PSS_LY), 129, 255, 0, 255);

digitalWrite(in1, LOW);

digitalWrite(in2, HIGH);

digitalWrite(in3, LOW);

digitalWrite(in4, HIGH);

//digitalWrite(2, HIGH);

digitalWrite(15, LOW);

digitalWrite(14, LOW);

analogWrite(enA, fspeed);

analogWrite(enB, fspeed);

}

if (ps2x.Analog(PSS_LY) < 128) { //MOVE FWD

fspeed = map(ps2x.Analog(PSS_LY), 0, 127, 255, 0);

digitalWrite(in1, HIGH);

digitalWrite(in2, LOW);

digitalWrite(in3, HIGH);

digitalWrite(in4, LOW);

//digitalWrite(2, LOW);

digitalWrite(15, LOW);

digitalWrite(14, LOW);

analogWrite(enA, fspeed);

analogWrite(enB, fspeed);

}

if (ps2x.Analog(PSS_LX) < 128) { //TURN LEFT

fspeed = map(ps2x.Analog(PSS_LX), 0, 127, 255, 0);

digitalWrite(15, HIGH);

digitalWrite(in3, HIGH);

digitalWrite(in4, LOW);

analogWrite(enA, 0);

analogWrite(enB, fspeed);

}

if (ps2x.Analog(PSS_LX) > 128) { //TURN RIGHT

fspeed = map(ps2x.Analog(PSS_LX), 129, 255, 0, 255);

digitalWrite(in1, HIGH);

digitalWrite(in2, LOW);

digitalWrite(14, HIGH);

analogWrite(enA, fspeed);

analogWrite(enB, 0);

}

if (ps2x.Analog(PSS_RX) > 128) { //TURN HARD RIGHT

fspeed = map(ps2x.Analog(PSS_RX), 129, 255, 0, 255);

digitalWrite(in1, HIGH);

digitalWrite(in2, LOW);

digitalWrite(in3, LOW);

digitalWrite(in4, HIGH);

digitalWrite(14, HIGH);

analogWrite(enA, fspeed);

analogWrite(enB, fspeed);

}

if (ps2x.Analog(PSS_RX) < 128) { //TURN HARD LEFT

fspeed = map(ps2x.Analog(PSS_RX), 0, 127, 255, 0);

digitalWrite(15, HIGH);

digitalWrite(in1, LOW);

digitalWrite(in2, HIGH);

digitalWrite(in3, HIGH);

digitalWrite(in4, LOW);

analogWrite(enA, fspeed);

analogWrite(enB, fspeed);

}

if ((ps2x.Analog(PSS_RY) > 128) && (ps2x.Analog(PSS_RX) < 128)) { //TURN BACK LEFT

fspeed = map(ps2x.Analog(PSS_RY), 129, 255, 0, 255);

digitalWrite(in3, LOW);

digitalWrite(in4, HIGH);

digitalWrite(15, HIGH);

//digitalWrite(2, HIGH);

analogWrite(enA, 0);

analogWrite(enB, fspeed);

}

if ((ps2x.Analog(PSS_RY) > 128) && (ps2x.Analog(PSS_RX) > 128)) { //TURN BACK RIGHT

fspeed = map(ps2x.Analog(PSS_RY), 129, 255, 0, 255);

digitalWrite(in1, LOW);

digitalWrite(in2, HIGH);

digitalWrite(14, HIGH);

//digitalWrite(2, HIGH);

analogWrite(enA, fspeed);

analogWrite(enB, 0);

}

delay(50);

}

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