Library for PS2
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// include libraries
#include <PS2X_lib.h>
PS2X ps2x; // create PS2 Controller Class
int error = 0;
byte type = 0;
byte vibrate = 0;
void setup(){
// Start serial communication
Serial.begin(57600);
error = ps2x.config_gamepad(13,40,42,44, true, true); //setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error
}
// Main loop
void loop(){
ps2x.read_gamepad(false, vibrate); // disable vibration of the controller
// Perform movements based on D-pad buttons
int nJoyR = ps2x.Analog(PSS_RY); // read right stick
Serial.println(nJoyR);
// MOVE FORWARD
if(ps2x.Button(PSB_PAD_UP)) {
Serial.println("Move forward");
}
// TURN RIGHT
if(ps2x.Button(PSB_PAD_RIGHT)){
Serial.println("Turn right");
}
// TURN LEFT
if(ps2x.Button(PSB_PAD_LEFT)){
Serial.println("Turn left");
}
// MOVE BACK
if(ps2x.Button(PSB_PAD_DOWN)){
Serial.println("Move back");
}
if (!ps2x.Button(PSB_PAD_DOWN) && !ps2x.Button(PSB_PAD_UP) && !ps2x.Button(PSB_PAD_RIGHT) && !ps2x.Button(PSB_PAD_LEFT)) {
Serial.println("stop");
}
delay(50);
}
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#define trigPin 8
#define echoPin 9
float duration, distance; // HC-SR04 ultrasonic sensor variable
int varultrasound; //variable to check if collision button is pressed
#define in1 7 //Right
#define in2 6 //Right
#define en1 3 //right speed
#define in3 10 //Left
#define in4 11 //Left
#define en2 5 //Left speed
#define LED 4 // Front lights pin
#define LED2 A1 // Back lights pin
const int buzzer = A0; //Buzzer to arduino pin A0 (Horn)
const int buzzer2 = A2; //Buzzer for HC-SR04 ultrasonic sensor pin
int command; //Int to store app command state.
#define R_S A6 //ir sensor Right
#define L_S A7 //ir sensor Left
int lineTracker=0;
int pwm_speedA = 255; //forward speed
int pwm_speedB = 48; //turn speed
int pwm_speedC = 110; //line tracker speed
const byte BTpin = 12; //connect the STATE pin to Arduino pin D12
#include <PS2X_lib.h>
PS2X ps2x; // create PS2 Controller Class
int error = 0;
byte type = 0;
byte vibrate = 0;
int LX = 0;
int LY = 0;
int RX = 0;
int RY = 0;
int joyStick=0;
void setup() {
error =ps2x.config_gamepad(13,40,42,44, true, true); //setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error
pinMode(BTpin, INPUT);
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(en1, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
pinMode(en2, OUTPUT);
pinMode(LED, OUTPUT); //Set the Front Lights pin.
pinMode(LED2, OUTPUT); //Set the Back lights.
pinMode(buzzer, OUTPUT); //buzzer to arduino pin A0 (Horn)
pinMode(buzzer2, OUTPUT); //buzzer for HC-SR04 ultrasonic sensor pin
varultrasound=0 ; // initialize variable
pinMode(R_S, INPUT); // declare if sensor as input
pinMode(L_S, INPUT); // declare ir sensor as input
Serial.begin(9600); //Set the baud rate to your Bluetooth module.
}
void loop() {
ps2x.read_gamepad(false, vibrate);
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
// Measure the response from the HC-SR04 Echo Pin
duration = pulseIn(echoPin, HIGH);
// Determine distance from duration
// Use 343 metres per second as speed of sound
distance = (duration / 2) * 0.0343;
/////////////////////////PS2//////////////////////////////
//if (joyStick==1) {
if (ps2x.Button(PSB_L1)){
LY = ps2x.Analog(PSS_LY); //receive values from p22 joystick
RX = ps2x.Analog(PSS_RX);
if (LY > 200 ) //check if the joystick pushed up side
{
back();
}
if (LY < 50 )
{
forward();
}
if ( RX < 50)
{
left();
}
if ( RX > 200)
{
right();
}
// if( LY == 128 && RX == 128 )
if( LY < 150 && LY >100 && RX <150 && RX > 100)
{
Stop();
}
//LY = LX = 128; //return to default vlaues
//RY = RX = 128; //return to default values
}
//}
///////////////////////////////////////////////////////////////////////
/////////////////check if line tracker button is pressed///////////////////////
if (lineTracker==1) {
if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 0)){
pwm_speedA = pwm_speedC;
forward();
} //if Right Sensor and Left Sensor are at White color then it will call forword function
if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 1)){
pwm_speedA = pwm_speedC;
right();
delay(10);
right();
} //if Right Sensor is Black and Left Sensor is White then it will call turn Right function
if((digitalRead(R_S) == 1)&&(digitalRead(L_S) == 0)){
pwm_speedA = pwm_speedC;
left();
delay(10);
left();
} //if Right Sensor is White and Left Sensor is Black then it will call turn Left function
if((digitalRead(R_S) == 1)&&(digitalRead(L_S) == 1)){Stop();} //if Right Sensor and Left Sensor are at Black color then it will call Stop function
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////
// check distance from obstacle and if the button "Collision" from the application is pressed
if ((varultrasound > 0)&& (distance<=10)){
digitalWrite(in4, HIGH);
analogWrite(en2,255);
digitalWrite(in1, HIGH);
analogWrite(en1,255);
tone(buzzer2, 2500); // Send 1KHz sound signal...
delay(500);
analogWrite(in4, 0);
analogWrite(en2,0);
analogWrite(in1, 0);
analogWrite(en1,0);
noTone(buzzer2);// Stop sound...
}
///////////////////////////////////////////////////////////////////Read BTpin and check if Bluetooth Disconnected
//if (digitalRead(BTpin)==LOW){
// Stop();
//}
///////////////////////////////////////////////////////////////////////////////////////////
if (Serial.available() > 0) {
command = Serial.read();
Stop(); //Initialize with motors stoped.
switch (command) {
///////////////////////////////////// Turn on/off Front lights
case 'W':
digitalWrite(LED, HIGH);
break;
case 'w':
digitalWrite(LED, LOW);
break;
///////////////////////////////////// Change variable varultrasound if button "Collision is pressed
case 'M':
varultrasound=varultrasound+1 ;
break;
case 'm':
varultrasound=0 ;
break;
////////////////////////////////////// Turn on/off Back lights
case 'U':
digitalWrite(LED2, HIGH);
break;
case 'u':
digitalWrite(LED2, LOW);
break;
/////////////////////////////////////// Toggle on/off Horn
case 'V':
tone(buzzer, 2500); // Send 1KHz sound signal...
break;
case 'v':
noTone(buzzer);// Stop sound...
break;
////////////////////////////////////////
case 'F':
forward();
break;
case 'B':
back();
break;
case 'L':
left();
break;
case 'R':
right();
break;
case 'G':
forwardleft();
break;
case 'I':
forwardright();
break;
case 'H':
backleft();
break;
case 'J':
backright();
break;
case '0':
pwm_speedA = 100;
break;
case '1':
pwm_speedA = 140;
break;
case '2':
pwm_speedA = 153;
break;
case '3':
pwm_speedA = 165;
break;
case '4':
pwm_speedA = 178;
break;
case '5':
pwm_speedA = 191;
break;
case '6':
pwm_speedA = 204;
break;
case '7':
pwm_speedA=216;
break;
case '8':
pwm_speedA = 229;
break;
case '9':
pwm_speedA = 242;
break;
case 'q':
pwm_speedA = 255;
break;
case 'K':
lineTracker= lineTracker+1;
break;
case 'k':
lineTracker=0;
Stop();
break;
case 'P':
joyStick= joyStick+1;
break;
case 'p':
joyStick=0;
Stop();
break;
}
}
}
void forward() {
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
analogWrite(en2,pwm_speedA);
digitalWrite(in2, HIGH);
digitalWrite(in1, LOW);
analogWrite(en1,pwm_speedA);
}
void back() {
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
analogWrite(en1,pwm_speedA);
digitalWrite(in4, HIGH);
digitalWrite(in3, LOW);
analogWrite(en2,pwm_speedA);
}
void left() {
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
analogWrite(en2,pwm_speedA);
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
analogWrite(en1,pwm_speedA);
}
void right() {
digitalWrite(in2, HIGH);
digitalWrite(in1, LOW);
analogWrite(en1,pwm_speedA);
digitalWrite(in4, HIGH);
digitalWrite(in3, LOW);
analogWrite(en2,pwm_speedA);
}
void forwardleft() {
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
analogWrite(en2,pwm_speedA);
digitalWrite(in2, HIGH);
digitalWrite(in1, LOW);
analogWrite(en1,pwm_speedB);
}
void forwardright() {
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
analogWrite(en2,pwm_speedB);
digitalWrite(in2, HIGH);
digitalWrite(in1, LOW);
analogWrite(en1,pwm_speedA);
}
void backright() {
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
analogWrite(en1,pwm_speedA);
digitalWrite(in4, HIGH);
digitalWrite(in3, LOW);
analogWrite(en2,pwm_speedB);
}
void backleft() {
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
analogWrite(en1,pwm_speedB);
digitalWrite(in4, HIGH);
digitalWrite(in3, LOW);
analogWrite(en2,pwm_speedA);
}
void Stop() {
analogWrite(in1, LOW);
analogWrite(in2, LOW);
analogWrite(in3, LOW);
analogWrite(in4, LOW);
}
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