我们在做机器人调试时，只能通过串口发命令来控制，有时跟着出门了还得带着电脑，实在很不方便，今天来教大家如何使用PS2手柄来直接控制Arduino设备。
一、材料准备
ps2手柄 *1 // 2.4G无线通信，遥控距离20米
连接线 *若干
二、连线方法
注意电源接3.3V
三、开发环境
添加PS2X库：
# 下载
wget https://github.com/yanjingang/Arduino-PS2X/archive/refs/heads/master.zip
# 复制到arduino应用插件目录
cp -r ~/Arduino-PS2X/PS2X_lib /Applications/Arduino.app/Contents/Java/hardware/arduino/avr/libraries/四、调试代码
#include "PS2X_lib.h"
PS2X ps2x; // create PS2 Controller Class
int error = 0;
byte type = 0;
byte vibrate = 0;
void setup() {
Serial.begin(57600);
// 设置PS2控制引脚
error = ps2x.config_gamepad(13, 11, 10, 12, true,true); // setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?)
if (error == 0) { // 成功
Serial.println("Found Controller, configured successful");
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("Go to [url]www.billporter.info[/url] for updates and to report bugs.");
} else if (error == 1){ // 未找到控制器，请检查接线
Serial.println("No controller found, check wiring, see readme.txt to enable debug. visit [url]www.billporter.info[/url] for troubleshooting tips");
}else if (error == 2){ // 找到控制器但不接受命令
Serial.println("Controller found but not accepting commands. see readme.txt to enable debug. Visit [url]www.billporter.info[/url] for troubleshooting tips");
}else if (error == 3){ // 控制器拒绝进入压力模式，可能不支持
Serial.println("Controller refusing to enter Pressures mode, may not support it. ");
}
// Serial.print(ps2x.Analog(1), HEX);
// 读取PS2设备类型
type = ps2x.readType();
switch (type) {
case 0:
Serial.println("Unknown Controller type");
break;
case 1:
Serial.println("DualShock Controller Found");
break;
case 2:
Serial.println("GuitarHero Controller Found");
break;
}
}
void loop() {
/* You must Read Gamepad to get new values
Read GamePad and set vibration values
ps2x.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 values
you should call this at least once a second
*/
if (error == 1) // skip loop if no controller found
return;
// 读取手柄的控制信号
if (type == 2) { // Guitar Hero Controller
ps2x.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 pressed
Serial.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 pressed
Serial.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 TRUE
{
Serial.print("Wammy Bar Position:");
Serial.println(ps2x.Analog(WHAMMY_BAR), DEC);
}
}else { // DualShock Controller
ps2x.read_gamepad(false, vibrate); // read controller and set large motor to spin at 'vibrate' speed
if (ps2x.Button(PSB_START)) // will be TRUE as long as button is pressed
Serial.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 pressed
Serial.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_BLUE); // 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))
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_GREEN))
Serial.println("Triangle pressed");
}
if (ps2x.ButtonPressed( PSB_RED)) // will be TRUE if button was JUST pressed
Serial.println("Circle just pressed");
if (ps2x.ButtonReleased( PSB_PINK)) // will be TRUE if button was JUST released
Serial.println("Square just released");
if (ps2x.NewButtonState(PSB_BLUE)) // will be TRUE if button was JUST pressed OR released
Serial.println("X just changed");
if (ps2x.Button(PSB_L1) || ps2x.Button(PSB_R1)) // print stick values if either is TRUE
{
Serial.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);
}将示例代码上传到UNO板中，打开PS2无线手柄的开关（ON、START、MODE，确保两个灯都亮起），观察无线接收器的绿灯与手柄的上的灯都停止闪烁说明连接成功了。
打开串口监视器，可以看到连接成功，控制手柄查看信号接收是否正常（需要注意demo里两个摇柄的当前值是在按L1和R1时打印Stick Values输出的）。
按钮定义：
好了，单片机能准确的收到相应按钮信号之后，剩下的对应控制逻辑就不在此赘述了，自己实现即可。
yan 22.1.8
参考：
Arduino Robot With PS2 Controller
