頭文件

#ifndef PS2X_lib_h#define PS2X_lib_h#if ARDUINO > 22#include "Arduino.h" #else#include "WProgram.h" #endif#include <math.h> #include <stdio.h> #include <stdint.h> #ifdef __AVR__// AVR#include <avr/io.h>#define CTRL_CLK 4#define CTRL_BYTE_DELAY 3 #else// Pic32...#include <pins_arduino.h>#define CTRL_CLK 5#define CTRL_CLK_HIGH 5#define CTRL_BYTE_DELAY 4 #endif //These are our button constants #define PSB_SELECT 0x0001 #define PSB_L3 0x0002 #define PSB_R3 0x0004 #define PSB_START 0x0008 #define PSB_PAD_UP 0x0010 #define PSB_PAD_RIGHT 0x0020 #define PSB_PAD_DOWN 0x0040 #define PSB_PAD_LEFT 0x0080 #define PSB_L2 0x0100 #define PSB_R2 0x0200 #define PSB_L1 0x0400 #define PSB_R1 0x0800 #define PSB_GREEN 0x1000 #define PSB_RED 0x2000 #define PSB_BLUE 0x4000 #define PSB_PINK 0x8000 #define PSB_TRIANGLE 0x1000 #define PSB_CIRCLE 0x2000 #define PSB_CROSS 0x4000 #define PSB_SQUARE 0x8000//Guitar button constants #define UP_STRUM 0x0010 #define DOWN_STRUM 0x0040 #define STAR_POWER 0x0100 #define GREEN_FRET 0x0200 #define YELLOW_FRET 0x1000 #define RED_FRET 0x2000 #define BLUE_FRET 0x4000 #define ORANGE_FRET 0x8000 #define WHAMMY_BAR 8//These are stick values #define PSS_RX 5 #define PSS_RY 6 #define PSS_LX 7 #define PSS_LY 8//These are analog buttons #define PSAB_PAD_RIGHT 9 #define PSAB_PAD_UP 11 #define PSAB_PAD_DOWN 12 #define PSAB_PAD_LEFT 10 #define PSAB_L2 19 #define PSAB_R2 20 #define PSAB_L1 17 #define PSAB_R1 18 #define PSAB_GREEN 13 #define PSAB_RED 14 #define PSAB_BLUE 15 #define PSAB_PINK 16 #define PSAB_TRIANGLE 13 #define PSAB_CIRCLE 14 #define PSAB_CROSS 15 #define PSAB_SQUARE 16#define SET(x,y) (x|=(1<<y)) #define CLR(x,y) (x&=(~(1<<y))) #define CHK(x,y) (x & (1<<y)) #define TOG(x,y) (x^=(1<<y))class PS2X {public:boolean Button(uint16_t); //will be TRUE if button is being pressedunsigned int ButtonDataByte();boolean NewButtonState();boolean NewButtonState(unsigned int); //will be TRUE if button was JUST pressed OR releasedboolean ButtonPressed(unsigned int); //will be TRUE if button was JUST pressedboolean ButtonReleased(unsigned int); //will be TRUE if button was JUST releasedvoid read_gamepad();boolean read_gamepad(boolean, byte);byte readType();byte config_gamepad(uint8_t, uint8_t, uint8_t, uint8_t);byte config_gamepad(uint8_t, uint8_t, uint8_t, uint8_t, bool, bool);void enableRumble();bool enablePressures();byte Analog(byte);void reconfig_gamepad();private:inline void CLK_SET(void);inline void CLK_CLR(void);inline void CMD_SET(void);inline void CMD_CLR(void);inline void ATT_SET(void);inline void ATT_CLR(void);inline bool DAT_CHK(void);unsigned char _gamepad_shiftinout (char);unsigned char PS2data[21];void sendCommandString(byte*, byte);unsigned char i;unsigned int last_buttons;unsigned int buttons;#ifdef __AVR__uint8_t maskToBitNum(uint8_t);uint8_t _clk_mask; volatile uint8_t *_clk_oreg;uint8_t _cmd_mask; volatile uint8_t *_cmd_oreg;uint8_t _att_mask; volatile uint8_t *_att_oreg;uint8_t _dat_mask; volatile uint8_t *_dat_ireg;#elseuint8_t maskToBitNum(uint8_t);uint16_t _clk_mask; volatile uint32_t *_clk_lport_set;volatile uint32_t *_clk_lport_clr;uint16_t _cmd_mask; volatile uint32_t *_cmd_lport_set;volatile uint32_t *_cmd_lport_clr;uint16_t _att_mask; volatile uint32_t *_att_lport_set;volatile uint32_t *_att_lport_clr;uint16_t _dat_mask; volatile uint32_t *_dat_lport;#endifunsigned long last_read;byte read_delay;byte controller_type;boolean en_Rumble;boolean en_Pressures; };#endif

C文件

#include "PS2X_lib.h" #include <math.h> #include <stdio.h> #include <stdint.h> #include <avr/io.h> #if ARDUINO > 22#include "Arduino.h" #else#include "WProgram.h"#include "pins_arduino.h" #endifstatic byte enter_config[]={0x01,0x43,0x00,0x01,0x00}; static byte set_mode[]={0x01,0x44,0x00,0x01,0x03,0x00,0x00,0x00,0x00}; static byte set_bytes_large[]={0x01,0x4F,0x00,0xFF,0xFF,0x03,0x00,0x00,0x00}; static byte exit_config[]={0x01,0x43,0x00,0x00,0x5A,0x5A,0x5A,0x5A,0x5A}; static byte enable_rumble[]={0x01,0x4D,0x00,0x00,0x01}; static byte type_read[]={0x01,0x45,0x00,0x5A,0x5A,0x5A,0x5A,0x5A,0x5A};/****************************************************************************************/ boolean PS2X::NewButtonState() {return ((last_buttons ^ buttons) > 0); }/****************************************************************************************/ boolean PS2X::NewButtonState(unsigned int button) {return (((last_buttons ^ buttons) & button) > 0); }/****************************************************************************************/ boolean PS2X::ButtonPressed(unsigned int button) {return(NewButtonState(button) & Button(button)); }/****************************************************************************************/ boolean PS2X::ButtonReleased(unsigned int button) {return((NewButtonState(button)) & ((~last_buttons & button) > 0)); }/****************************************************************************************/ boolean PS2X::Button(uint16_t button) {return ((~buttons & button) > 0); }/****************************************************************************************/ unsigned int PS2X::ButtonDataByte() {return (~buttons); }/****************************************************************************************/ byte PS2X::Analog(byte button) {return PS2data[button]; }/****************************************************************************************/ unsigned char PS2X::_gamepad_shiftinout (char byte) {unsigned char tmp = 0;for(unsigned char i=0;i<8;i++) {if(CHK(byte,i)) CMD_SET();else CMD_CLR();CLK_CLR();delayMicroseconds(CTRL_CLK);//if(DAT_CHK()) SET(tmp,i);if(DAT_CHK()) bitSet(tmp,i);CLK_SET(); #if CTRL_CLK_HIGHdelayMicroseconds(CTRL_CLK_HIGH); #endif}CMD_SET();delayMicroseconds(CTRL_BYTE_DELAY);return tmp; }/****************************************************************************************/ void PS2X::read_gamepad() {read_gamepad(false, 0x00); }/****************************************************************************************/ boolean PS2X::read_gamepad(boolean motor1, byte motor2) {double temp = millis() - last_read;if (temp > 1500) //waited to longreconfig_gamepad();if(temp < read_delay) //waited too shortdelay(read_delay - temp);if(motor2 != 0x00)motor2 = map(motor2,0,255,0x40,0xFF); //noting below 40 will make it spinchar dword[9] = {0x01,0x42,0,motor1,motor2,0,0,0,0};byte dword2[12] = {0,0,0,0,0,0,0,0,0,0,0,0};// Try a few times to get valid data...for (byte RetryCnt = 0; RetryCnt < 5; RetryCnt++) {CMD_SET();CLK_SET();ATT_CLR(); // low enable joystickdelayMicroseconds(CTRL_BYTE_DELAY);//Send the command to send button and joystick data;for (int i = 0; i<9; i++) {PS2data[i] = _gamepad_shiftinout(dword[i]);}if(PS2data[1] == 0x79) { //if controller is in full data return mode, get the rest of datafor (int i = 0; i<12; i++) {PS2data[i+9] = _gamepad_shiftinout(dword2[i]);}}ATT_SET(); // HI disable joystick// Check to see if we received valid data or not. // We should be in analog mode for our data to be valid (analog == 0x7_)if ((PS2data[1] & 0xf0) == 0x70)break;// If we got to here, we are not in analog mode, try to recover...reconfig_gamepad(); // try to get back into Analog mode.delay(read_delay);}// If we get here and still not in analog mode (=0x7_), try increasing the read_delay...if ((PS2data[1] & 0xf0) != 0x70) {if (read_delay < 10)read_delay++; // see if this helps out...}#ifdef PS2X_COM_DEBUGSerial.println("OUT:IN");for(int i=0; i<9; i++){Serial.print(dword[i], HEX);Serial.print(":");Serial.print(PS2data[i], HEX);Serial.print(" ");}for (int i = 0; i<12; i++) {Serial.print(dword2[i], HEX);Serial.print(":");Serial.print(PS2data[i+9], HEX);Serial.print(" ");}Serial.println(""); #endiflast_buttons = buttons; //store the previous buttons states#if defined(__AVR__)buttons = *(uint16_t*)(PS2data+3); //store as one value for multiple functions #elsebuttons = (uint16_t)(PS2data[4] << 8) + PS2data[3]; //store as one value for multiple functions #endiflast_read = millis();return ((PS2data[1] & 0xf0) == 0x70); // 1 = OK = analog mode - 0 = NOK }/****************************************************************************************/ byte PS2X::config_gamepad(uint8_t clk, uint8_t cmd, uint8_t att, uint8_t dat) {return config_gamepad(clk, cmd, att, dat, false, false); }/****************************************************************************************/ byte PS2X::config_gamepad(uint8_t clk, uint8_t cmd, uint8_t att, uint8_t dat, bool pressures, bool rumble) {byte temp[sizeof(type_read)];#ifdef __AVR___clk_mask = digitalPinToBitMask(clk);_clk_oreg = portOutputRegister(digitalPinToPort(clk));_cmd_mask = digitalPinToBitMask(cmd);_cmd_oreg = portOutputRegister(digitalPinToPort(cmd));_att_mask = digitalPinToBitMask(att);_att_oreg = portOutputRegister(digitalPinToPort(att));_dat_mask = digitalPinToBitMask(dat);_dat_ireg = portInputRegister(digitalPinToPort(dat)); #elseuint32_t lport; // Port number for this pin_clk_mask = digitalPinToBitMask(clk);lport = digitalPinToPort(clk);_clk_lport_set = portOutputRegister(lport) + 2;_clk_lport_clr = portOutputRegister(lport) + 1;_cmd_mask = digitalPinToBitMask(cmd);lport = digitalPinToPort(cmd);_cmd_lport_set = portOutputRegister(lport) + 2;_cmd_lport_clr = portOutputRegister(lport) + 1;_att_mask = digitalPinToBitMask(att);lport = digitalPinToPort(att);_att_lport_set = portOutputRegister(lport) + 2;_att_lport_clr = portOutputRegister(lport) + 1;_dat_mask = digitalPinToBitMask(dat);_dat_lport = portInputRegister(digitalPinToPort(dat)); #endifpinMode(clk, OUTPUT); //configure portspinMode(att, OUTPUT);pinMode(cmd, OUTPUT);pinMode(dat, INPUT);#if defined(__AVR__)digitalWrite(dat, HIGH); //enable pull-up #endifCMD_SET(); // SET(*_cmd_oreg,_cmd_mask);CLK_SET();//new error checking. First, read gamepad a few times to see if it's talkingread_gamepad();read_gamepad();//see if it talked - see if mode came back. //If still anything but 41, 73 or 79, then it's not talkingif(PS2data[1] != 0x41 && PS2data[1] != 0x73 && PS2data[1] != 0x79){ #ifdef PS2X_DEBUGSerial.println("Controller mode not matched or no controller found");Serial.print("Expected 0x41, 0x73 or 0x79, but got ");Serial.println(PS2data[1], HEX); #endifreturn 1; //return error code 1}//try setting mode, increasing delays if need be.read_delay = 1;for(int y = 0; y <= 10; y++) {sendCommandString(enter_config, sizeof(enter_config)); //start config run//read typedelayMicroseconds(CTRL_BYTE_DELAY);CMD_SET();CLK_SET();ATT_CLR(); // low enable joystickdelayMicroseconds(CTRL_BYTE_DELAY);for (int i = 0; i<9; i++) {temp[i] = _gamepad_shiftinout(type_read[i]);}ATT_SET(); // HI disable joystickcontroller_type = temp[3];sendCommandString(set_mode, sizeof(set_mode));if(rumble){ sendCommandString(enable_rumble, sizeof(enable_rumble)); en_Rumble = true; }if(pressures){ sendCommandString(set_bytes_large, sizeof(set_bytes_large)); en_Pressures = true; }sendCommandString(exit_config, sizeof(exit_config));read_gamepad();if(pressures){if(PS2data[1] == 0x79)break;if(PS2data[1] == 0x73)return 3;}if(PS2data[1] == 0x73)break;if(y == 10){ #ifdef PS2X_DEBUGSerial.println("Controller not accepting commands");Serial.print("mode stil set at");Serial.println(PS2data[1], HEX); #endifreturn 2; //exit function with error}read_delay += 1; //add 1ms to read_delay}return 0; //no error if here }/****************************************************************************************/ void PS2X::sendCommandString(byte string[], byte len) { #ifdef PS2X_COM_DEBUGbyte temp[len];ATT_CLR(); // low enable joystickdelayMicroseconds(CTRL_BYTE_DELAY);for (int y=0; y < len; y++)temp[y] = _gamepad_shiftinout(string[y]);ATT_SET(); //high disable joystickdelay(read_delay); //wait a fewSerial.println("OUT:IN Configure");for(int i=0; i<len; i++) {Serial.print(string[i], HEX);Serial.print(":");Serial.print(temp[i], HEX);Serial.print(" ");}Serial.println(""); #elseATT_CLR(); // low enable joystickfor (int y=0; y < len; y++)_gamepad_shiftinout(string[y]);ATT_SET(); //high disable joystickdelay(read_delay); //wait a few #endif }/****************************************************************************************/ byte PS2X::readType() { /*byte temp[sizeof(type_read)];sendCommandString(enter_config, sizeof(enter_config));delayMicroseconds(CTRL_BYTE_DELAY);CMD_SET();CLK_SET();ATT_CLR(); // low enable joystickdelayMicroseconds(CTRL_BYTE_DELAY);for (int i = 0; i<9; i++) {temp[i] = _gamepad_shiftinout(type_read[i]);}sendCommandString(exit_config, sizeof(exit_config));if(temp[3] == 0x03)return 1;else if(temp[3] == 0x01)return 2;return 0; */if(controller_type == 0x03)return 1;else if(controller_type == 0x01)return 2;else if(controller_type == 0x0C) return 3; //2.4G Wireless Dual Shock PS2 Game Controllerreturn 0; }/****************************************************************************************/ void PS2X::enableRumble() {sendCommandString(enter_config, sizeof(enter_config));sendCommandString(enable_rumble, sizeof(enable_rumble));sendCommandString(exit_config, sizeof(exit_config));en_Rumble = true; }/****************************************************************************************/ bool PS2X::enablePressures() {sendCommandString(enter_config, sizeof(enter_config));sendCommandString(set_bytes_large, sizeof(set_bytes_large));sendCommandString(exit_config, sizeof(exit_config));read_gamepad();read_gamepad();if(PS2data[1] != 0x79)return false;en_Pressures = true;return true; }/****************************************************************************************/ void PS2X::reconfig_gamepad(){sendCommandString(enter_config, sizeof(enter_config));sendCommandString(set_mode, sizeof(set_mode));if (en_Rumble)sendCommandString(enable_rumble, sizeof(enable_rumble));if (en_Pressures)sendCommandString(set_bytes_large, sizeof(set_bytes_large));sendCommandString(exit_config, sizeof(exit_config)); }/****************************************************************************************/ #ifdef __AVR__ inline void PS2X::CLK_SET(void) {register uint8_t old_sreg = SREG;cli();*_clk_oreg |= _clk_mask;SREG = old_sreg; }inline void PS2X::CLK_CLR(void) {register uint8_t old_sreg = SREG;cli();*_clk_oreg &= ~_clk_mask;SREG = old_sreg; }inline void PS2X::CMD_SET(void) {register uint8_t old_sreg = SREG;cli();*_cmd_oreg |= _cmd_mask; // SET(*_cmd_oreg,_cmd_mask);SREG = old_sreg; }inline void PS2X::CMD_CLR(void) {register uint8_t old_sreg = SREG;cli();*_cmd_oreg &= ~_cmd_mask; // SET(*_cmd_oreg,_cmd_mask);SREG = old_sreg; }inline void PS2X::ATT_SET(void) {register uint8_t old_sreg = SREG;cli();*_att_oreg |= _att_mask ;SREG = old_sreg; }inline void PS2X::ATT_CLR(void) {register uint8_t old_sreg = SREG;cli();*_att_oreg &= ~_att_mask;SREG = old_sreg; }inline bool PS2X::DAT_CHK(void) {return (*_dat_ireg & _dat_mask) ? true : false; }#else // On pic32, use the set/clr registers to make them atomic... inline void PS2X::CLK_SET(void) {*_clk_lport_set |= _clk_mask; }inline void PS2X::CLK_CLR(void) {*_clk_lport_clr |= _clk_mask; }inline void PS2X::CMD_SET(void) {*_cmd_lport_set |= _cmd_mask; }inline void PS2X::CMD_CLR(void) {*_cmd_lport_clr |= _cmd_mask; }inline void PS2X::ATT_SET(void) {*_att_lport_set |= _att_mask; }inline void PS2X::ATT_CLR(void) {*_att_lport_clr |= _att_mask; }inline bool PS2X::DAT_CHK(void) {return (*_dat_lport & _dat_mask) ? true : false; }#endif

arduino文件

#include "PS2X_lib.h" //for v1.6 #include <Wire.h> #include <Servo.h> /******************************************************************* set pins connected to PS2 controller:* - 1e column: original * - 2e colmun: Stef?* replace pin numbers by the ones you use******************************************************************/ #define PS2_DAT 6 #define PS2_CMD 5 #define PS2_SEL 4 #define PS2_CLK 3 /******************************************************************* select modes of PS2 controller:* - pressures = analog reading of push-butttons * - rumble = motor rumbling* uncomment 1 of the lines for each mode selection******************************************************************/ #define pressures true #define rumble truePS2X ps2x; // create PS2 Controller Class//right now, the library does NOT support hot pluggable controllers, meaning //you must always either restart your Arduino after you connect the controller, //or call config_gamepad(pins) again after connecting the controller.int error = 0; byte type = 0; byte vibrate = 0;int lx = 0; int ly= 0; int L_Speed = 0; int R_Speed = 0;Servo myservo1,myservo2,myservo3,myservo4; // create servo object to control a servo const int SERVOS = 4; //舵機數4個const int ACC = 10; // the accurancy of the potentiometer value before idle starts counting int value[SERVOS], idle[SERVOS], currentAngle[SERVOS], MIN[SERVOS], MAX[SERVOS], INITANGLE[SERVOS], previousAngle[SERVOS],ANA[SERVOS];int Left_motor=8; //左電機(IN3) 輸出0 前進 輸出1 后退 int Left_motor_pwm=9; //左電機PWM調速int Right_motor_pwm=10; // 右電機PWM調速 int Right_motor=11; // 右電機后退(IN1) 輸出0 前進 輸出1 后退void setup(){Serial.begin(57600);myservo1.attach(2); //手爪電機myservo2.attach(7); //上臂電機myservo3.attach(12); //下臂電機myservo4.attach(13); //底座電機 //-----電機IO口定-pinMode( 8, OUTPUT);pinMode( 9, OUTPUT);pinMode( 10, OUTPUT);pinMode( 11, OUTPUT);stop(); //手爪 ServoMIN[0] = 10;MAX[0] = 50;INITANGLE[0] = 30;//上臂電機MIN[1] = 10; // This should bring the lever to just below 90deg to groundMAX[1] = 140;INITANGLE[1] = 90; // This should bring the lever parallel with the ground//下臂電機MIN[2] = 40;MAX[2] = 170;INITANGLE[2] = 90;//底座電機MIN[3] = 0;MAX[3] = 170;INITANGLE[3] = 90;//初始化電機myservo1.write(INITANGLE[0]); myservo2.write(INITANGLE[1]); myservo3.write(INITANGLE[2]);myservo4.write(INITANGLE[3]); currentAngle[0]=INITANGLE[0];currentAngle[1]=INITANGLE[1];currentAngle[2]=INITANGLE[2];currentAngle[3]=INITANGLE[3];delay(2000); //added delay to give wireless ps2 module some time to startup, before configuring itSerial.print("Search Controller..");//CHANGES for v1.6 HERE!!! **************PAY ATTENTION*************do{//setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?) check for errorerror = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);if(error == 0){Serial.println("\nConfigured successful ");break;}else{Serial.print(".");delay(100);}}while(1); type = ps2x.readType(); switch(type) {case 0:Serial.println("Unknown Controller type found ");break;case 1:Serial.println("DualShock Controller found ");break;case 2:Serial.println("GuitarHero Controller found ");break;case 3:Serial.println("Wireless Sony DualShock Controller found ");break;}//震動一，說明連接ps2x.read_gamepad(true, 200); //開啟震動delay(500);ps2x.read_gamepad(false, 200); //開啟震動delay(300);ps2x.read_gamepad(true, 200); //開啟震動delay(500); }void loop() {/* You must Read Gamepad to get new values and set vibration valuesps2x.read_gamepad(small motor on/off, larger motor strenght from 0-255)if you don't enable the rumble, use ps2x.read_gamepad(); with no valuesYou should call this at least once a second*/ ps2x.read_gamepad(false, vibrate); //開啟震動if(ps2x.Button(PSB_START)){ //開始按鍵Serial.println("Start is being held");ps2x.read_gamepad(true, 200);}if(ps2x.Button(PSB_SELECT))Serial.println("Select is being held"); if(ps2x.Button(PSB_PAD_UP)) //方向按鍵向上按下{ Serial.print("Up held this hard: ");Serial.println(ps2x.Analog(PSAB_PAD_UP), DEC);forward();}else if(ps2x.ButtonReleased(PSB_PAD_UP)) { //方向按鍵向上釋放stop(); }if(ps2x.Button(PSB_PAD_DOWN)) //方向按鍵向下按下{ Serial.print("DOWN held this hard: ");Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);back();}else if(ps2x.ButtonReleased(PSB_PAD_DOWN))//方向按鍵向下釋放{ stop(); }if(ps2x.Button(PSB_R1)){ //側面開關右R1R_Speed = 0; }if(ps2x.Button(PSB_L1)){ //側面開關左L1L_Speed = 0; } if(ps2x.Button(PSB_PAD_LEFT)) //方向按鍵左側按下 { left();}else if(ps2x.ButtonReleased(PSB_PAD_LEFT)) //方向按鍵左側釋放{ stop();}if(ps2x.Button(PSB_PAD_RIGHT)) //方向按鍵右側按下{ Serial.println(ps2x.Analog(PSB_PAD_RIGHT));right();}else if(ps2x.ButtonReleased(PSB_PAD_RIGHT)) //方向按鍵右側釋放{ // Serial.println("*****PSB_PAD_RIGHT***** ");stop(); } 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)) //左側L3Serial.println("L3 pressed");if(ps2x.Button(PSB_R3)) //右側L3Serial.println("R3 pressed");if(ps2x.Button(PSB_L2)) //左側L2Serial.println("L2 pressed");if(ps2x.Button(PSB_R2)) //右側R2Serial.println("R2 pressed");if(ps2x.Button(PSB_TRIANGLE))Serial.println("Triangle pressed"); //三角形按鍵按下 }if(ps2x.ButtonPressed(PSB_CIRCLE)){ //will be TRUE if button was JUST pressedSerial.println("Circle just pressed");openGripper(); }if(ps2x.NewButtonState(PSB_CROSS)) { // ×鍵新鍵改變Serial.println("X just changed");ps2x.read_gamepad(true, vibrate); //獲取震動值}if(ps2x.ButtonPressed(PSB_SQUARE)) { //will be TRUE if button was JUST releasedSerial.println("Square just released");closeGripper() ;}if(ps2x.Button(PSB_L1) || ps2x.Button(PSB_R1)) { //print stick values if either is TRUESerial.print("Stick Values:");Serial.print(ps2x.Analog(PSS_LY), DEC); //Left stick, Y axis. Other options: LX, RY, RX Serial.print(",");Serial.print(ps2x.Analog(PSS_LX), DEC); Serial.print(",");Serial.print(ps2x.Analog(PSS_RY), DEC); Serial.print(",");Serial.println(ps2x.Analog(PSS_RX), DEC); } value[0] = ps2x.Analog(PSS_LX);value[1] = ps2x.Analog(PSS_RY);value[2] = ps2x.Analog(PSS_LY);value[3] = ps2x.Analog(PSS_RX);for (int i = 0; i < SERVOS; i++){if (value[i] > 130) {if (currentAngle[i] < MAX[i]) currentAngle[i]+=1; // Serial.print("value"); // Serial.print(i); // Serial.print(":"); // Serial.println(value[i]);switch(i){case 0: myservo1.write(currentAngle[i]);break;case 1: myservo2.write(currentAngle[i]);break;case 2: myservo3.write(currentAngle[i]);break;case 3: myservo4.write(currentAngle[i]);break;} } else if (value[i] < 120) {if (currentAngle[i] > MIN[i]) currentAngle[i]-=1; // Serial.print("value"); // Serial.print(i); // Serial.print(":"); // Serial.println(value[i]);switch(i){case 0: myservo1.write(currentAngle[i]);break;case 1: myservo2.write(currentAngle[i]);break;case 2: myservo3.write(currentAngle[i]);break;case 3: myservo4.write(currentAngle[i]);break;} } } delay(10); }//Grab something void openGripper() {myservo1.write(MIN[0]);delay(300); }//Let go of something void closeGripper() {myservo1.write(MAX[0]);delay(300); }void forward() {digitalWrite(8, LOW);digitalWrite(9, HIGH);digitalWrite(11, LOW); digitalWrite(10, HIGH); }void right() {digitalWrite(8, LOW);digitalWrite(9, HIGH);digitalWrite(11, LOW);digitalWrite(10, LOW); }void back() {digitalWrite(8, HIGH);digitalWrite(9, HIGH);digitalWrite(11, HIGH);digitalWrite(10, HIGH); }void left() {digitalWrite(8, LOW);digitalWrite(9, LOW);digitalWrite(11, LOW);digitalWrite(10, HIGH); }void stop() {digitalWrite(8, LOW);digitalWrite(9, LOW);digitalWrite(11, LOW);digitalWrite(10, LOW); }

總結

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