#include <PS2X_lib.h> //for v1.6
#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 12 //14
#define PS2_CMD 11 //15
#define PS2_SEL 10 //16
#define PS2_CLK 9 //17
bool relay = false;
#define RELAYPIN 5
bool mow = false;
#define MOWPIN 4
#define SPEEDPIN 2
#define STEERPIN 3
Servo ServoSpeed;
Servo ServoSteer;
/******************************************************************
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() {
Serial.begin(57600);
ServoSpeed.attach(SPEEDPIN);
ServoSteer.attach(STEERPIN);
pinMode(RELAYPIN, OUTPUT);
pinMode(MOWPIN, OUTPUT);
//CHANGES for v1.6 HERE!!! **************PAY ATTENTION*************
//delay(300); //added delay to give wireless ps2 module some time to startup, before configuring it
//setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error
//error = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);
// retry logic to avoid a reset after power up
do
{
delay(1000);
//error = ps2x.config_gamepad(13, 11, 10, 12, true, true);
error = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);
if (error == 1)
Serial.println("No controller found, retry in a sec");
} while (error == 1);
if (error == 0) {
Serial.print("Found Controller, configured successful ");
Serial.print("pressures = ");
if (pressures)
Serial.println("true ");
else
Serial.println("false");
Serial.print("rumble = ");
if (rumble)
Serial.println("true)");
else
Serial.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 loop() {
/* You must Read Gamepad to get new values 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;
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_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))
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 pressed
Serial.println("Circle just pressed");
if (ps2x.NewButtonState(PSB_CROSS)) //will be TRUE if button was JUST pressed OR released
Serial.println("X just changed");
if (ps2x.ButtonReleased(PSB_SQUARE)) //will be TRUE if button was JUST released
Serial.println("Square just released");
// 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);
// }
}
digitalWrite(RELAYPIN, relay);
digitalWrite(MOWPIN, mow);
setAnalog();
delay(50);
}
void setAnalog() {
byte lx, ly, rx, ry;
int speedus, steerus;
if (ps2x.Button(PSB_L1) || ps2x.Button(PSB_R1)) { //slower steering only possible if either is TRUE
//Left stick, Y axis.
ly = ps2x.Analog(PSS_LY);
speedus = map(255 - ly, 0, 255, 1300, 1700);
Serial.print("Left Y: \t");
Serial.print(ly);
Serial.print("\t-->\t");
Serial.println(speedus, DEC);
ServoSpeed.writeMicroseconds(speedus);
//Right stick, X axis
rx = ps2x.Analog(PSS_RX);
steerus = map(255 - rx, 0, 255, 1300, 1700);
Serial.print("Right X:\t");
Serial.print(rx);
Serial.print("\t-->\t");
Serial.println(steerus, DEC);
ServoSteer.writeMicroseconds(steerus);
vibrate = 2;
}
if (ps2x.Button(PSB_L2) || ps2x.Button(PSB_R2)) { //faster steering only possible if either is TRUE
//Left stick, Y axis.
ly = ps2x.Analog(PSS_LY);
speedus = map(255 - ly, 0, 255, 1100, 1900);
Serial.print("Left Y: \t");
Serial.print(ly);
Serial.print("\t-->\t");
Serial.println(speedus, DEC);
ServoSpeed.writeMicroseconds(speedus);
//Right stick, X axis
rx = ps2x.Analog(PSS_RX);
steerus = map(255 - rx, 0, 255, 1100, 1900);
Serial.print("Right X:\t");
Serial.print(rx);
Serial.print("\t-->\t");
Serial.println(steerus, DEC);
ServoSteer.writeMicroseconds(steerus);
vibrate = 127;
}
if (ps2x.ButtonReleased(PSB_L1) || ps2x.ButtonReleased(PSB_R1) || ps2x.ButtonReleased(PSB_L2) || ps2x.ButtonReleased(PSB_R2)) {
ServoSpeed.writeMicroseconds(1500);
ServoSteer.writeMicroseconds(1500);
vibrate = 0;
}
}
