PS2手柄遥控Arduino小车

使用手柄遥控小车是经常要用到的，看到PS2手柄很6，就拿来尝试一下。
PS2手柄是索尼的PlayStation2游戏机的遥控手柄，因为这款手柄性价比较高，按键丰富，方便扩展到其它应用中，后来有人将其通讯协议破解，使得手柄可以用在遥控其他电器上，比如遥控控制机器人小车。

最主要的是这款手柄，拿来就可以用，有人已经将其通讯协议破解了。
具体可以参考极客工坊。其PS2X_lib库，可以参见Github.
这种摇杆有无线的和有线的，都是连接到Arduino上，我用的是有线的。

1. 手柄测试

将库文件放入Arduino IDE的安装的libaries文件夹中。然后可以使用其中的example 例程测试一下。
程序如下：

#include <PS2X_lib.h>  //for v1.6/******************************************************************* set pins connected to PS2 controller:*   - 1e column: original *   - 2e colmun: Stef?* replace pin numbers by the ones you use******************************************************************/
#define PS2_DAT        13  //14
#define PS2_CMD        11  //15
#define PS2_SEL        10  //16
#define PS2_CLK        12  //17/******************************************************************* 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 pressures   false
//#define rumble      true
#define rumble      falsePS2X 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;// Reset func
void (* resetFunc) (void) = 0;void setup(){Serial.begin(115200);delay(500);  //added delay to give wireless ps2 module some time to startup, before configuring it//CHANGES for v1.6 HERE!!! **************PAY ATTENTION*************//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.print("Found Controller, configured successful ");Serial.print("pressures = ");if (pressures)Serial.println("true ");elseSerial.println("false");Serial.print("rumble = ");if (rumble)Serial.println("true)");elseSerial.println("false");Serial.println("Try out all the buttons, X will vibrate the controller, faster as you press harder;");Serial.println("holding L1 or R1 will print out the analog stick values.");Serial.println("Note: Go to www.billporter.info for updates and to report bugs.");}  else if(error == 1)Serial.println("No controller found, check wiring, see readme.txt to enable debug. visit www.billporter.info for troubleshooting tips");else if(error == 2)Serial.println("Controller found but not accepting commands. see readme.txt to enable debug. Visit www.billporter.info for troubleshooting tips");else if(error == 3)Serial.println("Controller refusing to enter Pressures mode, may not support it. ");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;}
}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*/  if(error == 1){ //skip loop if no controller foundresetFunc();}if(type == 2){ //Guitar Hero Controllerps2x.read_gamepad();          //read controller if(ps2x.ButtonPressed(GREEN_FRET))Serial.println("Green Fret Pressed");if(ps2x.ButtonPressed(RED_FRET))Serial.println("Red Fret Pressed");if(ps2x.ButtonPressed(YELLOW_FRET))Serial.println("Yellow Fret Pressed");if(ps2x.ButtonPressed(BLUE_FRET))Serial.println("Blue Fret Pressed");if(ps2x.ButtonPressed(ORANGE_FRET))Serial.println("Orange Fret Pressed"); if(ps2x.ButtonPressed(STAR_POWER))Serial.println("Star Power Command");if(ps2x.Button(UP_STRUM))          //will be TRUE as long as button is pressedSerial.println("Up Strum");if(ps2x.Button(DOWN_STRUM))Serial.println("DOWN Strum");if(ps2x.Button(PSB_START))         //will be TRUE as long as button is pressedSerial.println("Start is being held");if(ps2x.Button(PSB_SELECT))Serial.println("Select is being held");if(ps2x.Button(ORANGE_FRET)) {     // print stick value IF TRUESerial.print("Wammy Bar Position:");Serial.println(ps2x.Analog(WHAMMY_BAR), DEC); } }else { //DualShock Controllerps2x.read_gamepad(false, vibrate); //read controller and set large motor to spin at 'vibrate' speedif(ps2x.Button(PSB_START))         //will be TRUE as long as button is pressedSerial.println("Start is being held");if(ps2x.Button(PSB_SELECT))Serial.println("Select is being held");      if(ps2x.Button(PSB_PAD_UP)) {      //will be TRUE as long as button is pressedSerial.print("Up held this hard: ");Serial.println(ps2x.Analog(PSAB_PAD_UP), DEC);}if(ps2x.Button(PSB_PAD_RIGHT)){Serial.print("Right held this hard: ");Serial.println(ps2x.Analog(PSAB_PAD_RIGHT), DEC);}if(ps2x.Button(PSB_PAD_LEFT)){Serial.print("LEFT held this hard: ");Serial.println(ps2x.Analog(PSAB_PAD_LEFT), DEC);}if(ps2x.Button(PSB_PAD_DOWN)){Serial.print("DOWN held this hard: ");Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);}   vibrate = ps2x.Analog(PSAB_CROSS);  //this will set the large motor vibrate speed based on how hard you press the blue (X) buttonif (ps2x.NewButtonState()) {        //will be TRUE if any button changes state (on to off, or off to on)if(ps2x.Button(PSB_L3))Serial.println("L3 pressed");if(ps2x.Button(PSB_R3))Serial.println("R3 pressed");if(ps2x.Button(PSB_L2))Serial.println("L2 pressed");if(ps2x.Button(PSB_R2))Serial.println("R2 pressed");if(ps2x.Button(PSB_TRIANGLE))Serial.println("Triangle pressed");        }if(ps2x.ButtonPressed(PSB_CIRCLE))               //will be TRUE if button was JUST pressedSerial.println("Circle just pressed");if(ps2x.NewButtonState(PSB_CROSS))               //will be TRUE if button was JUST pressed OR releasedSerial.println("X just changed");if(ps2x.ButtonReleased(PSB_SQUARE))              //will be TRUE if button was JUST releasedSerial.println("Square just released");     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); }     }delay(50);
}

在IDE中编译后下载到Arduino中，打开串口监视器，如果顺利，会看到显示下列提示：

如果提示未发现控制器，那就需要检查自己的连线等是不是有问题了，我在用的时候，因为杜邦线的问题，一直提示找不到控制器，我还怀疑是不是买的手柄有问题，又拿Stm32的板子来测试，折腾了半天竟然是线的问题。

连接后，按下手柄上的各个键都会有相应提示，可以看出哪个按键定义的什么名字。
在上述代码中，左边的四个按键只是显示按键按下，不会根据力的大小输出相应数值的，如果想要，就需要修改下列代码：

上述程序第20行到23行将注释调换一下条改为：

#define pressures   true
//#define pressures   false
#define rumble      true
//#define rumble      false

这样就可以实现通过按左侧”上下左右“按键的力度，输出不同的模拟值。

2. 小车电机控制

电机：有刷直流电机
驱动器：L298n逻辑
控制器：Arduino Mega2560

程序功能实现：
- 按下START键，开始前进；
- 通过按PS2手柄左边的“上下左右”键实现前进、后退、左转、右转。
- 按SELECT键停止；

#include <PS2X_lib.h>  //for v1.6/******************************************************************* set pins connected to PS2 controller:*   - 1e column: original *   - 2e colmun: Stef?* replace pin numbers by the ones you use******************************************************************/
//PS2手柄引脚；
#define PS2_DAT        13  //14
#define PS2_CMD        11  //15
#define PS2_SEL        10  //16
#define PS2_CLK        12  //17// 电机控制引脚；
#define IN1 4
#define IN2 5
#define IN3 6
#define IN4 7//PWM控制引脚；int speedPinA = 8;int speedPinB = 9;int speed;/******************************************************************* 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 pressures   false
#define rumble      true
//#define rumble      falsePS2X 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;void setup(){pinMode(IN1, OUTPUT);pinMode(IN2, OUTPUT);pinMode(IN3, OUTPUT);pinMode(IN4, OUTPUT);speed =200;Serial.begin(57600);delay(300) ; //added delay to give wireless ps2 module some time to startup, before configuring it//CHANGES for v1.6 HERE!!! **************PAY ATTENTION*************//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.print("Found Controller, configured successful ");Serial.print("pressures = ");if (pressures)Serial.println("true ");elseSerial.println("false");Serial.print("rumble = ");if (rumble)Serial.println("true)");elseSerial.println("false");Serial.println("Try out all the buttons, X will vibrate the controller, faster as you press harder;");Serial.println("holding L1 or R1 will print out the analog stick values.");Serial.println("Note: Go to www.billporter.info for updates and to report bugs.");}  else if(error == 1)Serial.println("No controller found, check wiring, see readme.txt to enable debug. visit www.billporter.info for troubleshooting tips");else if(error == 2)Serial.println("Controller found but not accepting commands. see readme.txt to enable debug. Visit www.billporter.info for troubleshooting tips");else if(error == 3)Serial.println("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 turnLeft(){digitalWrite(IN1,HIGH);digitalWrite(IN2, LOW);digitalWrite(IN3, LOW);digitalWrite(IN4,HIGH);
}void turnRight(){digitalWrite(IN1, LOW);digitalWrite(IN2, LOW);digitalWrite(IN3, HIGH);digitalWrite(IN4, LOW);
}void forward(){digitalWrite(IN1, HIGH);digitalWrite(IN2, LOW);digitalWrite(IN3, HIGH);digitalWrite(IN4, LOW);
}void back(){digitalWrite(IN1, LOW);digitalWrite(IN2, HIGH);digitalWrite(IN3, LOW);digitalWrite(IN4, HIGH);
}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*/  if(error == 1) //skip loop if no controller foundreturn; if(type == 2) {//Guitar Hero Controllerreturn;}else  { //DualShock Controllerps2x.read_gamepad(false, vibrate); //read controller and set large motor to spin at 'vibrate' speed//start 开始运行，电机初PWM为120；if(ps2x.Button(PSB_START))  {Serial.println("Start is being held");speed = 120;analogWrite(speedPinA, speed);analogWrite(speedPinB, speed);forward();                  }
// 电机正转；if(ps2x.Button(PSB_PAD_UP)){Serial.println("Up held this hard: ");speed= 200;analogWrite(speedPinA, speed);analogWrite(speedPinB, speed);forward();                  }// 电机反转；if(ps2x.Button(PSB_PAD_DOWN)){Serial.print("Down held this hard: ");speed= 200;analogWrite(speedPinA, speed);analogWrite(speedPinB, speed);back();                  }//左转；   if(ps2x.Button(PSB_PAD_LEFT)){Serial.println("turn left ");analogWrite(speedPinA, speed);analogWrite(speedPinB, 0);turnLeft();        }//右转；if(ps2x.Button(PSB_PAD_RIGHT)){Serial.println("turn right");analogWrite(speedPinA, 0);analogWrite(speedPinB, speed);turnRight();}
// Stopif(ps2x.Button(PSB_SELECT)){Serial.println("stop");speed = 0;analogWrite(speedPinA,speed);analogWrite(speedPinB,speed);}}
}

目前是拿来尝试一下，还是基于按键的实现，后面用摇杆来控制方向的速度。

3. 摇杆控制

功能实现：

通过按PS2摇杆的“上下左右”移动实现前进、后退、左转、右转。
速度随摇杆位置变化而变化；

/* 功能：通过按PS2摇杆的“上下左右”移动实现前进 、后退、左转、右转。* * 作者：lcl;*/
#include <PS2X_lib.h>  //for v1.6
/******************************************************************* set pins connected to PS2 controller:*   - 1e column: original*   - 2e colmun: Stef?* replace pin numbers by the ones you use******************************************************************/
//PS2手柄引脚；
#define PS2_DAT        13  //14
#define PS2_CMD        11  //15
#define PS2_SEL        10  //16
#define PS2_CLK        12  //17
// 电机控制引脚；
#define IN1 4
#define IN2 5
#define IN3 6
#define IN4 7int speedPinA = 8;int speedPinB = 9;
int speed;
//speed =200;
/******************************************************************* 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 pressures   false
#define rumble      true
//#define rumble      false
PS2X 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;void setup(){pinMode(IN1, OUTPUT);pinMode(IN2, OUTPUT);pinMode(IN3, OUTPUT);pinMode(IN4, OUTPUT);Serial.begin(57600);delay(300) ; //added delay to give wireless ps2 module some time to startup, before configuring it//CHANGES for v1.6 HERE!!! **************PAY ATTENTION*************//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.print("Found Controller, configured successful ");Serial.print("pressures = ");if (pressures)Serial.println("true ");elseSerial.println("false");Serial.print("rumble = ");if (rumble)Serial.println("true)");elseSerial.println("false");Serial.println("Try out all the buttons, X will vibrate the controller, faster as you press harder;");Serial.println("holding L1 or R1 will print out the analog stick values.");Serial.println("Note: Go to www.billporter.info for updates and to report bugs.");} else if(error == 1)Serial.println("No controller found, check wiring, see readme.txt to enable debug. visit www.billporter.info for troubleshooting tips");else if(error == 2)Serial.println("Controller found but not accepting commands. see readme.txt to enable debug. Visit www.billporter.info for troubleshooting tips");else if(error == 3)Serial.println("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 turnLeft() //左转{     digitalWrite(IN1,HIGH);digitalWrite(IN2, LOW);digitalWrite(IN3, LOW);digitalWrite(IN4,LOW);delay(20);
}void turnRight()//右转{digitalWrite(IN1, LOW);digitalWrite(IN2, LOW);digitalWrite(IN3, HIGH);digitalWrite(IN4, LOW);delay(20);
}void forward() // 前进{digitalWrite(IN1, HIGH);digitalWrite(IN2, LOW);digitalWrite(IN3, HIGH);digitalWrite(IN4, LOW);  delay(20);
}
void stop() // 停止；{digitalWrite(IN1, LOW);digitalWrite(IN2, LOW);digitalWrite(IN3, LOW);digitalWrite(IN4, LOW);delay(20);
}void back()  //后退{digitalWrite(IN1, LOW);digitalWrite(IN2, HIGH);digitalWrite(IN3, LOW);digitalWrite(IN4, HIGH);
}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*/ if(error == 1) //skip loop if no controller foundreturn;if(type == 2) {//Guitar Hero Controllerreturn;}else  { //DualShock Controllerps2x.read_gamepad(false, vibrate); //read controller and set large motor to spin at 'vibrate' speedif(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, RXSerial.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);int LY=ps2x.Analog(PSS_LY);int LX=ps2x.Analog(PSS_LX);int RY=ps2x.Analog(PSS_RY);int RX=ps2x.Analog(PSS_RX);if (LY<128)  //前进{speed = 2*(127-LY);//speed = LY;analogWrite(speedPinA, speed);analogWrite(speedPinB, speed);forward();   }//后退if (LY>128){speed=2*(LY-128);analogWrite(speedPinA, speed);analogWrite(speedPinB, speed);back();}//左转if (LX<128){speed = 2*(127-LX);analogWrite(speedPinA, speed);analogWrite(speedPinB, speed);turnLeft();}//右转if (LX>128){speed=2*(LX -128);analogWrite(speedPinA, speed);analogWrite(speedPinB, speed);turnRight();}//如果摇杆居中if (LY>=128 && LY<=128 && LX>=128 && LX<=128){stop();}}}

相关参考：
1. http://yfrobot.com/forum.php?mod=viewthread&tid=11561&highlight=ps2
2. Sony PS2游戏手柄遥控智能小车https://sanwen8.cn/p/375swwM.html
3. SONY PS2电玩手柄遥控乐高小车